Panasonic MINAS A6 Series, Technical Reference

Page: 97 / 306

5.1Automatic adjusting function
5-13
Parameters controlling operation of real-time auto tuning
Configure the Real-time auto tuning operation by setting the following parameters.

Relevant parameters
Class No. Attribute Title Range Unit Function
0 02 B Real-time auto-gain
tuning setup 0 to 6 - Specifies the operation mode of Real-time auto tuning.
Setup
value
Mode Description
0, 6 Invalid The Real-time auto tuning function is disabled.
1 Standard
response mode The mode for the optimum stability. No
uneven load or friction compensation takes
place and no gain switching is used.
2 High response
mode 1 The mode for the optimum positioning. Used
for a ball screw-driven device, etc. with no
uneven load and little friction, as in a
horizontal axis.
3 High response
mode 2 In addition to the high responce mode 1,
compensation against biased load and
application of 3rd gain are made to reduce
variations in settling time of positioning.
4 High response
mode 3 * In addition to the high responce mode 2,
settling time of positioning is reduced for a
load where frictions are high.
5 Load
characteristic
measurement Basic gain settings and friction compensation
settings are not changed and load
characteristic estimation only is made. This is
used in combination with setup support
software.
6 Fit-gain mode Use this mode to fine-adjust the stiffness
setting after fit-gain has been completed.
* In velocity control, it is the same as high response mode 2.
In addition, Parameters of Pr6.08 "Positive direction torque
compensation value", Pr6.09 "Negative direction torque
compensation value" and Pr6.50 "Viscous friction compensation
gain" are updated, but not reflected in the operation.
0 03 B Real-time
auto-tuning
machine stiffness
setup 0 to 31 - Specifies the response for enabled Real-time auto tuning. A
larger setting increases the speed response and servo stiffness
but invites more vibration. Gradually increase the setting while
monitoring the operation.
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 - Specifies the load characteristics estimation speed for enabled
Real-time auto tuning. A larger setting allows faster follow-up to
the variation in the load characteristics but also increases
estimation fluctuation due to disturbance. The result of estimation
is stored in the EEPROM every 30 minutes.
Setup
value
Mode Description
0 No change Terminates estimation of load characteristic.
1 Little change Responded against change of load
characteristic on the order of minutes.
2 Gradual
change Responded against change of load
characteristic on the order of seconds.
3 * Steep change Appropriate estimation is made against
change of load characteristic.
* If oscillation automatic detection is made valid from setup
support software, this setting is ignored and operation is based
on settings of setting value 3.
6 32 B Real time auto
tuning custom
setup -32768
to 32767 - Not available in 2 degrees of freedom control mode.
Always set to 0.