Panasonic MINAS A6N Series, Руководство по эксплуатации

Страница: 255 / 495

5-9 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
Basic
Basic Gain Parameter Setup Table
Stiffness
1st gain 2nd gain
load variation
suppression
function
Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.05 Pr1.06 Pr1.07 * 2 Pr1.09 Pr6.24
Gain of
position
loop
[0.1 /s]
Gain of
velocity
loop
[0.1 Hz]
Time
constant
of velocity
loop
integration
[0.1 ms]
Time
constant
of torque
filter
[0.01 ms]
Gain of
position
loop
[0.1 /s]
Gain of
velocity
loop
[0.1 Hz]
Time
constant
of velocity
loop
integration
[0.1 ms]
Time
constant
of torque
filter
[0.01 ms]
Load fiuctuation
compensation
filter
[0.01 ms]
0 20 15 3700 1500 25 15 10000 1500 2500
1 25 20 2800 1100 30 20 10000 1100 2500
2 30 25 2200 900 40 25 10000 900 2500
3 40 30 1900 800 45 30 10000 800 2500
4 45 35 1600 600 55 35 10000 600 2500
5 55 45 1200 500 70 45 10000 500 2500
6 75 60 900 400 95 60 10000 400 2500
7 95 75 700 300 120 75 10000 300 2120
8 115 90 600 300 140 90 10000 300 1770
9 140 110 500 200 175 110 10000 200 1450
10 175 140 400 200 220 140 10000 200 1140
11 * 1 320 180 310 126 380 180 10000 126 880
12 390 220 250 103 460 220 10000 103 720
13 *
1
480 270 210 84 570 270 10000 84 590
14 630 350 160 65 730 350 10000 65 450
15 720 400 140 57 840 400 10000 57 400
16 900 500 120 45 1050 500 10000 45 320
17 1080 600 110 38 1260 600 10000 38 270
18 1350 750 90 30 1570 750 10000 30 210
19 1620 900 80 25 1880 900 10000 25 180
20 2060 1150 70 20 2410 1150 10000 20 140
21 2510 1400 60 16 2930 1400 10000 16 110
22 3050 1700 50 13 3560 1700 10000 13 90
23 3770 2100 40 11 4400 2100 10000 11 80
24 4490 2500 40 9 5240 2500 10000 9 60
25 5000 2800 35 8 5900 2800 10000 8 60
26 5600 3100 30 7 6500 3100 10000 7 50
27 6100 3400 30 7 7100 3400 10000 7 50
28 6600 3700 25 6 7700 3700 10000 6 40
29 7200 4000 25 6 8400 4000 10000 6 40
30 8100 4500 20 5 9400 4500 10000 5 40
31 9000 5000 20 5 10500 5000 10000 5 40
*
1 Default stiffness setting: 13 for frames A, B and C, 11 for frames D, E, F.
*
2 In the vertical axis mode or friction compensation mode (Pr0.02 = 3, 4), Pr1.07 keeps 9999 (hold)
until load characteristics estimation completes.
Note
• For details of parameter, refer to P.3-39... “Details of Parameter”.