Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-6
Parameters changed by real-time auto-gain tuning
The Real-time auto tuning function updates the following parameters according to Pr 0.02 "Real-time
auto tuning setup" and Pr 6.32 "Real time auto tuning custom setup" and by using the load characteristic
estimate values.

Relevant parameters
Class No. Attribute Title Range Unit Function
0 04 B Inertia ratio 0 to
10000 % Updates this parameter when the Real-time auto tuning
inertia ratio update is enabled.
6 07 B Torque command
additional value -100 to
100 % Update this parameter when the vertical axis mode for
Real-time auto tuning is valid.
6 08 B Positive direction
Torque Compensation
Value -100 to
100 %
Update this parameter when the friction compensation mode
for Real-time auto tuning is valid.
6 09 B Negative direction
torque compensation
value -100 to
100 %
The Real-time auto tuning function updates the following basic gain setup parameters according to
Pr0.03 "Real-time auto tuning machine stiffness setup". For details, refer to "Basic gain parameter setup
tableBasic gain parameter setup tableBasic gain parameter setup table".

Relevant parameters
Class No. Attribute Title Range Unit Function
1 00 B 1st gain of position
loop 0 to
30000 0.1/s
When stiffness setup is valid, updates the parameter based
on the setup value.
1 01 B 1st gain of velocity
loop 1 to
32767 0.1 Hz
1 02 B 1st time constant of
velocity loop
integration 1 to
10000 0.1 ms
1 04 B 1st time constant of
torque filter 0 to 2500 0.01 ms
1 05 B 2nd gain of position
loop 0 to
30000 0.1/s
1 06 B 2nd gain of velocity
loop 1 to
32767 0.1 Hz
1 07 B 2nd time constant of
velocity loop
integration 1 to
10000 0.1 ms
1 09 B 2nd time constant of
torque filter 0 to 2500 0.01 ms
Real-time auto tuning function sets the following parameters to the fixed value.

Relevant parameters
Class No. Attribute Title Range Unit Function
1 03 B 1st filter of velocity
detection 0 to 5 -
When fixed parameter setup is valid, set the parameter to
0.
1 08 B 2nd filter of velocity
detection 0 to 5 -
1 10 B Velocity feed forward
gain 0 to 1000 0.1 % When fixed parameter setup is valid, set the parameter to
300 (30%).
1 11 B Velocity feed forward
filter 1 to 6400 0.01 ms When fixed parameter setup is valid, set the parameter to
50 (0.5 ms).
1 12 B Torque feed forward
gain 0 to 1000 0.1 %
When fixed parameter setup is valid, set the parameter to
0.
1 13 B Torque feed forward
filter 1 to 6400 0.01 ms