Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 261 / 495

5-15 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom Control Mode – Standard Type
Class No. Title
Setting
1 11 Velocity feed forward filter 0
1 12 Torque feed forward gain 1000 (100 %)
1 13 Torque feed forward filter 0
6 10 Function expansion setup 2 bit4=1
6 49 command response
/
Adjust filter attenuation term 15
●
Parameters which are set in respons to gain switching setup
The real-time automatic tuning sets the following parameters depending on Pr0.02
“Real-time auto-gain tuning setup”.
Class No. Title Function
1 14 2nd gain setup
Sets to 1 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 15
Mode of position control
switching
Sets to 0 when in standard response mode
(Pr0.02 = 1); when in quick response mode 1
to 3 (Pr0.02 = 2 to 4).
1 16
Delay time of position control
switching Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 17
Level of position control
switching
Sets to 0 if real-time auto-tuning is valid (Pr0.02
= 1 to 4).
1 18
Hysteresis at position control
switching
1 19 Position gain switching time
Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 20
Mode of velocity control
switching
Sets to 0 if real-time auto-tuning is valid (Pr0.02
= 1 to 4).
1 21
Delay time of velocity control
switching
1 22
Level of velocity control
switching Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 23
Hysteresis at velocity control
switching
Sets to 0 if real-time auto-tuning is valid (Pr0.02
= 1 to 4).
1 24 Mode of torque control switching
1 25
Delay time of torque control
switching Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 26 Level of torque control switching Sets to 0 if real-time auto-tuning is valid (Pr0.02
= 1 to 4).
1 27 Hysteresis at torque control switching
6 05 Position 3rd gain valid time
Sets to 0 (invalid) when in standard response
mode or high speed response mode 1 (Pr0.02
= 1, 2).When in high speed response mode 2
or 3 (Pr0.02 = 3, 4), sets to Pr2.22 × 20 (max.
value is limited to 10000).
6 06 Position 3rd gain scale factor
When in standard mode or high speed
response mode 1, (Pr0.02 = 1, 2), sets to 100
(100 %). When in high speed response mode 2
or 3, (Pr0.02 = 3, 4), sets to 200 (200 %).
Related page
• P.3-39 to P.3-123... “Details of Parameter””