Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-25

The control gain is updated when the motor is stopped. Therefore, if the motor is not stopped because gain is
excessively low or commands are given continually in one direction, the change in the set value for Pr0.03
"Real-time auto tuning machine stiffness setup" may not be reflected. In this case, abnormal sound or
oscillation may be generated depending on the stiffness setting that is reflected after the motor stops.After
the stiffness setting is changed, be sure to stop the motor once and check that the stiffness setting has been
reflected before performing the next operation.
Basic gain parameter setup table
Stiffness
1st gain / 2nd gain
Adjust
filter
For load
fluctuation
suppression
function
For load variation support mode (Pr0.02 = 6)
only
Pr 1.00
Pr 1.05 Pr 1.01
Pr 1.06 Pr 1.02
Pr 1.07 Pr 1.04
Pr 1.09 Pr 6.48
(Note 1)
Pr 6.24
Pr1.00
Pr1.05
Pr6.24 Pr6.74 Pr6.75
Position
[0.1/s] Speed
[0.1 Hz]
Velocity
integral
[0.1 ms]
Torque
[0.01 ms]
Time
constant
[0.1 ms] Load fluctuation
compensation filter
[0.01/ms]
Load
fluctuation
position loop
gain
0.1 [1/s] Load
fluctuation
compensation
filter
[0.01/ms]
Torque
compensation
frequency L
0.1 [Hz] Torque
compensation
frequency H
0.1 [Hz]
0 20 15 3700 1500 155 2500 15 1330 25 7
1 25 20 2800 1100 115 2500 20 990 34 10
2 30 25 2200 900 94 2500 25 800 42 12
3 40 30 1900 800 84 2500 30 660 51 15
4 45 35 1600 600 64 2500 35 570 59 17
5 55 45 1200 500 54 2500 45 440 76 22
6 75 60 900 400 44 2500 60 330 104 30
7 95 75 700 300 34 2120 75 270 129 37
8 115 90 600 300 34 1770 90 220 153 44
9 140 110 500 200 24 1450 110 180 184 53
10 175 140 400 200 23 1140 140 140 231 66
11 320 180 310 126 16 880 180 110 290 83
12 390 220 250 103 13 720 220 90 346 99
13 480 270 210 84 11 590 270 70 413 118
14 630 350 160 65 9 450 350 60 512 146
15 720 400 140 57 8 400 400 50 570 163
16 900 500 120 45 7 320 500 40 678 194
17 1080 600 110 38 6 270 600 40 678 194
18 1350 750 90 30 5 210 750 40 678 194
19 1620 900 80 25 5 180 900 40 678 194
20 2060 1150 70 20 4 140 1150 40 678 194
21 2510 1400 60 16 4 110 1400 40 678 194
22 3050 1700 50 13 3 90 1700 40 678 194
23 3770 2100 40 11 3 80 2100 40 678 194
24 4490 2500 40 9 3 60 2500 40 678 194
25 5000 2800 35 8 2 60 2800 40 678 194
26 5600 3100 30 7 2 50 3100 40 678 194
27 6100 3400 30 7 2 50 3400 40 678 194
28 6600 3700 25 6 2 40 3700 40 678 194
29 7200 4000 25 6 2 40 4000 40 678 194
30 8100 4500 20 5 2 40 4500 40 678 194
31 9000 5000 20 5 2 40 5000 40 678 194
(Note 1)
There is that Pr6.48 “Adjust filter” adds 1 to by a combination of driver and motor.