5-7
Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
Related page
•
P.3-49
〜“
Pr1.14
〜” •
P.3-92
〜“
Pr6.10
〜”
2. Real-Time Auto-Gain Tuning
Basic
●
Parameters which are set in response to gain switching setup
The real-time auto-tuning function sets the following parameters as the gain is
switched.
Class No.
Title
Function
1
14
2nd gain setup
Sets to 1 if the current setting is not aintained.
1
15
Mode of position control switching
Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
1
16
Delay time of position control switching
Sets to 50 if the current setting is not aintained.
1
17
Level of position control switching
1
18
Hysteresis at position control switching
Sets to 33 if the current setting is not aintained.
1
19
Position gain switching time
1
20
Mode of velocity control switching
Sets to 0 if the current setting is not aintained.
1
21
Delay time of velocity control switching
1
22
Level of velocity control switching
1
23
Hysteresis at velocity control switching
1
24
Mode of torque control switching
1
25
Delay time of torque control switching
1
26
Level of torque control switching
1
27
Hysteresis at torque control switching
●
Parameters which are set in response to load variation suppression function
The following settings and parameters are set automatic for enable/disable state of Pr 6.10
“Function expansion setup” load variation suppression function automatic adjustment.
Class No.
Title
Function
6
10
Function expansion
setup
When set to Pr6.10 bit14=1in case of stiffness
setting is enabled.load fluctuation suppression
funtion will become enabled(bit1=1).
When set to Pr6.10 bit14=0,it is disabled(bit1=0).
6
23
Load fluctuation
compensation gain
When set to Pr6.10 bit4=1 in case of stiffness
setting is enabled,sets to 90%. When set to
Pr6.10 bit14=0,set to 0%.
6
24
Load fluctuation
compensating filter
When set to Pr6.10 bit14=1 in case of stiffness
setting is enabled.updates to match rigidity.
When set to Pr6.10 bit14=0,value is held.
6
73
load estimation filter
When set to Pr6.10 bit14=1 in case of stiffness
setting is enabled.ses to 0.13 ms.When set to
Pr6.10 bit14=0,set to 0 ms.
6
74
Torque compensating
frequency 1
Regardless value of the Pr6.10 bit14,sets to 0.
6
75
Torque compensating
frequency 2
Regardless value of the Pr6.10 bit14,sets to 0.
6
76
Load estimate numbers
When set to Pr6.10 bit14=1 in case of stiffness
setting is enabled,sets to 4.
When set to Pr6.10 bit14=0,set to 0.
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