Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-15
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 (Pr0.02=1 to 4), 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 4000 0.1 % When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 1000 (100%).
1 11 B Velocity feed forward
filter 1 to 6400 0.01 ms When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0 (invalid).
1 12 B Torque feed forward
gain 0 to 2000 0.1 % When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 1000 (100%).
1 13 B Torque feed forward
filter 1 to 6400 0.01 ms When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0 (invalid).
6 10 B Function expansion
setup -32768 to
32767 - When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to bit4=1.
6 49 B Adjust/Torque
command attenuation
term 0 to 99 - When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 15.
When Pr0.02=6, set the tenths digit to 1 and maintain the
unit digit.
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 (Pr0.02=1
to 4).
1 15 B Mode of position
control switching 0 to 10 - For the standard response mode (Pr0.02=1), set the
parameter to 0.
For high response mode 1 to 3 (Pr0.02=2 to 4), set the
parameter to 7.
1 16 B Delay time of position
control switching 0 to
10000 0.1 ms Sets to 10 if the current setting is not maintained
(Pr0.02=1 to 4).
1 17 B Level of position
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1 18 B Hysteresis at position
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1 19 B Position gain
switching time 0 to
10000 0.1 ms Sets to 10 if the current setting is not maintained
(Pr0.02=1 to 4).
1 20 B Mode of velocity
control switching 0 to 5 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
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
(Pr0.02=1 to 4).
1 22 B Level of velocity
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1 23 B Hysteresis at velocity
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1 24 B Mode of torque control
switching 0 to 3 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
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
(Pr0.02=1 to 4).
1 26 B Level of torque control
switching 0 to
20000 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1 27 B Hysteresis at torque
control switching 0 to
20000 - Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
(To be continued)