Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-4
Class No. Attribute Title Range Unit Function
0 03 B Real-time
auto-tuning
machine stiffness
setup 0 to 31 - You can set up the response while the real-time auto-gain tuning
is valid. Higher the setup value, higher the velocity response and
servo stiffness will be obtained. However, when increasing the
value, check the resulting operation to avoid oscillation or
vibration.
6 10 B Function expansion
setup -32768
to 32767 - The automatic adjustment of load change inhibit function is
enabled with bit14=1.
6 31 B Real time auto
tuning estimation
speed 0 to 3 Set up the load characteristics estimation speed with the
Real-time auto tuning being valid. A higher setup value assures
faster response to a change in load characteristics but increases
variations in disturbance estimation. Result of estimation is saved
to EEPROM every 30 minutes.
Setup
value
Mode Description
0 No change Stop estimation of load characteristics.
1 Almost
constant Response to changes in load characteristics
in every minute.
2 Slower
change Response to changes in load characteristics
in every second.
3 * Faster
change Obtain best suitable estimation in response to
changes in load characteristics.
If the automatic oscillation detection is enabled by the support
software, the setup value 3 is used.
6 32 B Real time auto
tuning custom
setup -32768
to 32767 - When the operation mode of real time auto tuning is set to the
customize (Pr 0.02 = 6), set the automatic adjusting function as
shown below.
Real time auto tuning custom setup

Real time auto tuning custom setup
Bit Content Description
1 to 0 Load characteristics estimation
(Note 1)(Note 2)
Enable/disable the load characteristics estimation function.
Setup value Description
0 Disable
1 Enable
3 to 2 Inertia ratio update
(Note 3)
Set up update to be made based on result of the load characteristics estimation of Pr
0.04 “Inertia ratio”.
Setup value Description
0 Use current setup
1 Update by the estimated value.
6 to 4 Torque compensation
(Note 4)
Set up the update to be made according to the results of load characteristics
estimation:
Pr 6.07 "Torque command additional value"
Pr 6.08 "positive direction torque compensation value"
Pr 6.09 "negative direction torque compensation value".
Setup value Description
0 Use current setup
1
Disable torque compensation.
Clear the parameters shown above to 0.
2 Vertical axis mode
Update Pr 6.07.
Zero clear Pr 6.08 and Pr 6.09
3 Friction compensation (low)
Update Pr 6.07. Set low compensation to Pr 6.08 and Pr 6.09.
4 Friction compensation (middle)
Set middle compensation to Pr 6.08and Pr.6.09
5 Friction compensation (high)
Set high compensation to Pr 6.08 and Pr 6.09.
(To be continued)