Panasonic MINAS A6 Series, Technical Reference

Page: 148 / 306

Auto Tuning Functions
5-64
Class No.
Attribute
(Note 1)
Title Range Unit Function
6 48 B Adjust filter 0 to 2000 0.1 ms 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 terms, 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.