Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-5
Bit Content Description
7 Stiffness Setup
(Note 5)
Enable/disable the basic gain setup to be made according to Pr0.03 "Real-time
auto-tuning machine stiffness setup".
Setup value Description
0 Disable
1 Enable
8 Fixed parameter setup
(Note 5)
Enable/disable the change of parameter that is normally set at a fixed value.
Setup value Description
0 Use current setup
1 Set to a fixed value..
10 to 9 Gain switching setup
(Note 5)
Select the gain switching relevant parameter to be used when the Real-time auto
tuning is enabled.
Setup value Description
0 Use current setup
1 Disable gain switching
2 Enable gain switching
(Note 1) If the load characteristics estimation is disabled, the current setup cannot be changed even if the inertia ratio is updated
according to the estimated value. When the torque compensation is updated by the estimated value, it is cleared to 0 (invalid).
(Note 2) If the load characteristics estimation is abled, set Pr6.31 "Real time auto tuning presumption speed" besides 0(stop estimation).
(Note 3) If the inertia ratio update is enabled, set bit 1
–0 to 1(enable).
If neither is effective, the inertia ratio is not updated.
(Note 4) If the torque compensation is abled (setup value=2-5), set bit 3
–2(Inertia ratio update) to 1(enable). If neither is effective, the
inertia ratio is not updated. The torque compensation alone cannot be updated.
(Note 5) Set bit3
–2(Inertia ratio update) to 1(enable) when this setting is set excluding 0. At this time, you can be set whether to inertia
ratio update to be effective with bit 1-0(Load characteristics estimation).

This parameter should be setup bit by bit. Because the operation is not guaranteed when
the setting is wrong, use of the setup support software is recommended for parameter
editing.

Do not change while the motor is operating. With this parameter is updated, when the
motor stopped after the result of load characteristic measurement secured.
<Setup procedure of bitwise parameter>
When setting parameter to a value other than 0, calculate the setup value of Pr 6.32 in the following
procedure.
1. Identify the LSB of the setup.
Example: LSB of the torque compensation function is 4.
2. Multiply the setup value by power of 2 (LSB).
Example: To set the torque compensation function to friction compensation (middle): 2 4 x 4 = 64.
3. Perform steps 1. and 2. for every setup, sum up the values which are to be Pr 6.32 setup
values.
Example: Load characteristics measurement = enable, inertia ratio update = enable, torque
compensation = friction compensation (middle), stiffness setup = enable, fixed parameter = set to
a fixed value, gain switching setup = enable, then,
2
0 x 1+2 2 x 1+2 4 x 4+2 7 x 1+2 8 x 1+2 9 x 2 = 1477