№
SR-ZSV00039
－
28
－
Motor Business Unit, Appliances Company, Panasonic Corporation
4）
Parameter changed by real-time auto tuning
The real-time auto tuning function updates the following parameters using load characteristic values, in
accordance with Pr0.02 "Real-time auto-gain tuning setup".
Category
No.
Parameter
Setup range
Unit
Function
0
04
Inertia ratio
0
10000
%
This parameter is updated if updating inertia ratio of real-time
auto tuning is valid.
6
07
Torque command
additional value
-100
100
%
This parameter is updated if vertical axis mode of real-time auto
tuning is valid.
6
08
Positive direction
torque compensation
value
-100
100
%
This parameter is updated if friction compensation mode of
real-time auto tuning is valid.
6
09
Negative direction
torque compensation
value
-100
100
%
This parameter is updated if friction compensation mode of
real-time auto tuning is valid.
The real-time auto tuning function updates the following basic gain setting parameters in accordance
with Pr0.03 "Selection of machine stiffness at realtime auto-gain tuning" For details, refer to 7) Basic
gain parameter settings table.
Category
No.
Parameter
Setup range
Unit
Function
1
00 1st gain of position loop
0
30000
0.1/s
If hardness setting is valid, update the setting values in accordance
with hardness.
1
01 1st gain of velocity loop
1
32767
0.1 Hz
If hardness setting is valid, update the setting values in accordance
with hardness.
1
02
1st time constant of
velocity loop integration
1
10000
0.1 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
1
04
1st time constant of
torque filter
0
2500
0.01 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
1
05
2nd gain of position
loop
0
30000
0.1/s
If hardness setting is valid, update the setting values in accordance
with hardness.
1
06
2nd gain of velocity
loop
1
32767
0.1 Hz
If hardness setting is valid, update the setting values in accordance
with hardness.
1
07
2nd time constant of
velocity loop integration
1
10000
0.1 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
1
09
2nd time constant of
torque filter
0
2500
0.01 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
Specify fixed values for the following parameters for real-time auto tuning.
Category
No.
Parameter
Setup range
Unit
Function
1
03
1st filter of speed
detection
0
5
If fixed parameter setting is valid, specify "0."
1
08
2nd filter of speed
detection
0
5
If fixed parameter setting is valid, specify "0."
1
10
Velocity feed forward
gain
0
1000
0.1%
If fixed parameter setting is valid, specify "300" (30%).
1
11
Velocity feed forward
filter
1
6400
0.01 ms
If fixed parameter setting is valid, set "50" (0.5 ms).
1
12
Torque feed forward
gain
0
1000
0.1%
If fixed parameter setting is valid, specify "0."
1
13
Torque feed forward
filter
0
6400
0.01 ms
If fixed parameter setting is valid, specify "0."
(Continued)
