Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-14 Rev.2.00
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom Control Mode – Standard Type
Parameters Set/Changed by Real-time Auto-gain Tuning
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Parameters which are updated
The real-time auto-tuning function updates the following parameters according to
Pr0.02 Real-time auto-tuning setup by using the load characteristic estimate values.
Class No. Title Function
0 04 Inertia ratio
Updates this parameter when the real-time auto-tuning
is enabled (Pr0.02 = 1 to 4).
6 07
Torque command
additional value Updates this parameter when the real-time auto-tuning
is in the quick response mode 2, 3 (Pr0.02 = 3, 4).
6 08
Positive direction torque
compensation value
Updates this parameter when the real-time auto-tuning
is in the quick response mode 3 (Pr0.02 = 4).
6 09
Negative direction torque
compensation value
6 50
Viscous friction
compensation gain
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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.Dtails refer to basic gain
parameter setup table.
Class No. Title Function
1 00 1st gain of position loop
When real-time auto-tuning is valid (Pr0.02 =
1 to 4,6), updates the setup value according to
the stiffness.
Refer to P.5-10 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
2 22 Command smoothing filter
When real-time auto tuning is valid
(Pr0.02=1 to 4), updates the parameter
based on the setup value.
＊
In velocity control, 1st filter is fixed.
6 48
Adjust filter
When real-time auto tuning is valid
(Pr0.02=1 to 4,6), updates the parameter
based on the setup value.
＊
In velocity control, 1st filter is fixed.
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Parameters which are set to fixed value
Real-time auto-tuning function sets the following parameters to fixed value.
Class No. Title
Setup value
1 03 1st filter of speed detection
0
1 08 2nd filter of speed detection
1 10 Velocity feed forward gain 1000 (100 %)
Related page
• P.3-39 to P.3-123... “Details of Parameter”