Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-7
The Real-time auto tuning function sets the following parameters as the gain is switched.

Relevant parameters
Class No. Attribute Title Range Unit Function
1 14 B 2nd gain setup 0 to 1 - Sets to 1 if the current setting is not maintained
1 15 B Mode of position
control switching 0 to 10 - Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
1 16 B Delay time of position
control switching 0 to
10000 0.1 ms Sets to 50 if the current setting is not maintained.
1 17 B Level of position
control switching 0 to
20000 - Sets to 50 if the current setting is not maintained.
1 18 B Hysteresis at position
control switching 0 to
20000 - Sets to 33 if the current setting is not maintained.
1 19 B Position gain
switching time 0 to
10000 0.1 ms Sets to 33 if the current setting is not maintained.
1 20 B Mode of velocity
control switching 0 to 5 - Sets to 0 if the current setting is not maintained.
1 21 B Delay time of velocity
control switching 0 to
10000 0.1 ms Sets to 0 if the current setting is not maintained.
1 22 B Level of velocity
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained.
1 23 B Hysteresis at velocity
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained.
1 24 B Mode of torque control
switching 0 to 3 - Sets to 0 if the current setting is not maintained.
1 25 B Delay time of torque
control switching 0 to
10000 0.1 ms Sets to 0 if the current setting is not maintained.
1 26 B Level of torque control
switching 0 to
20000 - Sets to 0 if the current setting is not maintained.
1 27 B Hysteresis at torque
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained.
The following settings are always set to invalid when Pr 0.02 "Real-time auto tuning setup" is not 0.
However, the parameter settings are not changed.

Relevant parameters
Class No. Attribute Title Range Unit Function
6 10 B Function expansion
setup 0 to 1023 - Instantaneous velocity observer function enable bit (bit 0),
disturbance observer function enable bit (bit 1) are internally
disabled.
6 23 B Load change
compensation gain -100 to
100 % Parameter setup can be changed, but disturbance observer
is disabled.
6 24 B Load change
compensation filter 10 to
2500 0.01 ms Parameter setup can be changed, but disturbance observer
is disabled.
6 73 B Load estimation
filter 0 to 2500 0.01 ms When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, set to 0 ms.
6 74 B Torque
compensation
frequency 1 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
6 75 B Torque
compensation
frequency 2 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
6 76 B Load estimation
count 0 to 8 - When set to Pr 6.10 bit 14=1 in case of stiffness setting is
enabled, sets to 4.