Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-6 Rev.2.00
2. Real-Time Auto-Gain Tuning
Basic
Related page •
P.3-42
“
Pr0.04
” •
P.3-47
〜“
Pr1.00
〜” •
P.3-91
“
Pr6.07
〜”
Parameters Set/Changed by Real-time Auto-gain Tuning
• Parameters which are updated
The real-time auto-tuning function updates the following parameters according to
Pr0.02 Real-time auto-tuning setup and Pr6.32 Real-time auto-tuning custom setup
and by using the load characteristic estimate values.
Class No. Title Function
0 04 Inertia ratio
Updates this parameter when the real-time auto-
tuning inertia ratio update is enabled.
6 07
Torque command
additional value Update this parameter when the vertical axis mode
for real time auto-tuning is valid.
6 08
Positive direction torque
compensation value Update this parameter when the friction
compensation mode for real time auto-tuning is valid.
6 09
Negative direction torque
compensation value
Update this parameter when the friction
compensation mode for real time auto-tuning is valid.
• Parameters which are updated to setup value corresponding to stiffness setup
The real-time auto-tuning function updates the following basic gain setup parameters
according to Pr0.03 Real-time auto-tuning stiffness setup.
Class No. Title Function
1 00 1st gain of position loop
When stiffness setup is valid, updates the
parameter based on the setup value.
Refer to P.5-9 Basic gain parameter
setup table.
1 01 1st gain of velocity loop
1 02
1st time constant of velocity loop
integration
1 04 1st time constant of torque filter
1 05 2nd gain of position loop
1 06 2nd gain of velocity loop
1 07
2nd time constant of velocity
loop integration
1 09 2nd time constant of torque filter
• Parameters which are set to fixed value
Real-time auto-tuning function sets the following parameters to the fixed value.
Class No. Title
Setup value when fixed parameter
setup is valid.
1 03 1st filter of speed detection
0
1 08 2nd filter of speed detection
1 10 Velocity feed forward gain 300 (30 %)
1 11 Velocity feed forward filter 50 (0.5 ms)
1 12 Torque feed forward gain
0
1 13 Torque feed forward filter