Panasonic MINAS A6 Series, Technical Reference

Page: 143 / 306

5.2Manual adjusting function
5-59
Class No. Attribute Title Range Unit Function
6 48 B Adjust filter 0 to 2000 0.1ms Set the time constant for the adjust filter.

When the torque filter setting has been changed, set a value
close to the real-time auto-tuning setting.

As a result of fine-tuning while checking the encoder position
deviation near the setting, overshoot and oscillatory waveforms
may be improved.
 The attenuation term is set by Pr6.49 “Adjust/Torque command
attenuation term
”.
6 49 B Command / tuning
filter damping 0 to 99 - Set the attenuation term for the command filter and adjust filter.

A decimal number indication is used. The first digit sets the
command filter and the second digit sets the adjust filter.
<Each target digit of the set value>
0 to 4: No attenuation term (operated as primary filter)
5 to 9: Secondary filter (Attenuation ter
ms, ζ will be 1.0, 0.86,
0.71, 0.50, and 0.35 in order.)
<Setting an example of this parameter>
To set the command filter to ζ=1.0 and adjust filter 1 to ζ=0.71,
the setting value should be 75 (first digit=5 (ζ=1.0), second
digit=7 (ζ=0.71)).
For the time constant of the command filter, Pr2.22 "Command
smoothing filter" will be applied.
6 50 B Viscous friction
compensation gain 0 to
10000 0.1 %/
(10000r/
min) Add the result of multiplying the command velocity by this setting
value to the torque command as the correction amount of the
viscous friction torque.

The encoder position deviation near the setting may be
improved by setting the viscous friction factor estimation for
Real-time auto tuning.