Panasonic MINAS A5-series Operating Instructions Manual
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5-71 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 Supplement• Parameters which are set in response to gain switching setupThe real-time auto-tuning function sets the following parameters as the gain isswitched.Class No. Title Function1 14 2nd gain setup Sets to 1 if the current setting is notmaintained.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 controlswitching Sets to 50 if the current setting is notmaintained.1 17 Level of position control switching1 18 Hysteresis at position controlswitching Sets to 33 if the current setting is notmaintained.1 19 Position gain switching time1 20 Mode of velocity control switchingSets to 0 if the current setting is notmaintained.1 21 Delay time of velocity controlswitching1 22 Level of velocity control switching1 23 Hysteresis at velocity controlswitching1 24 Mode of torque control switching1 25 Delay time of torque control switching1 26 Level of torque control switching1 27 Hysteresis at torque control switching• Parameters which are always set to invalid.The following settings are always set to invalid when Pr0.02 Real-time auto-tuningsetup is not 0.Class No. Title Function6 10 Function expansion setupInstantaneous speed observer function enablebit (bit 0), disturbance observer function enablebit (bit 1) and inertia ratio switching functionenable bit (bit 3) are internally disabled.6 13 2nd Inertia ratioP a r a m e t e r s e t u p c a n b e c h a n g e d , b u tdisturbance observer is disabled.6 23 Disturbance torquecompensating gain6 24 Disturbance observer filter2. Real-Time Auto-Gain TuningBasicRelated page • P.4-14... “Pr1.14...” • P.4-52... “Pr6.10...” |
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