Datasheet

№SR-ZSV00039 － 28 －
Motor Business Unit, Appliances Company, Panasonic Corporation
4）Parameter changed by real-time auto tuning
The real-time auto tuning function updates the following parameters using load characteristic values, in
accordance with Pr0.02 "Real-time auto-gain tuning setup".
Category
No.
Parameter
Setup range
Unit Function
0 04 Inertia ratio 010000 %
This parameter is updated if updating inertia ratio of real-time
auto tuning is valid.
6 07
Torque command
additional value
-100100 %
This parameter is updated if vertical axis mode of real-time auto
tuning is valid.
6 08
Positive direction
torque compensation
value
-100100 %
This parameter is updated if friction compensation mode of
real-time auto tuning is valid.
6 09
Negative direction
torque compensation
value
-100100 %
This parameter is updated if friction compensation mode of
real-time auto tuning is valid.
The real-time auto tuning function updates the following basic gain setting parameters in accordance
with Pr0.03 "Selection of machine stiffness at realtime auto-gain tuning" For details, refer to 7) Basic
gain parameter settings table.
Category
No.
Parameter Setup range Unit Function
1 00 1st gain of position loop 030000 0.1/s
If hardness setting is valid, update the setting values in accordance
with hardness.
1 01 1st gain of velocity loop 132767 0.1 Hz
If hardness setting is valid, update the setting values in accordance
with hardness.
1 02
1st time constant of
velocity loop integration
110000 0.1 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
1 04
1st time constant of
torque filter
02500 0.01 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
1 05
2nd gain of position
loop
030000 0.1/s
If hardness setting is valid, update the setting values in accordance
with hardness.
1 06
2nd gain of velocity
loop
132767 0.1 Hz
If hardness setting is valid, update the setting values in accordance
with hardness.
1 07
2nd time constant of
velocity loop integration
110000 0.1 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
1 09
2nd time constant of
torque filter
02500 0.01 ms
If hardness setting is valid, update the setting values in accordance
with hardness.
Specify fixed values for the following parameters for real-time auto tuning.
Category
No.
Parameter
Setup range
Unit Function
1 03
1st filter of speed
detection
05

If fixed parameter setting is valid, specify "0."
1 08
2nd filter of speed
detection
05

If fixed parameter setting is valid, specify "0."
1 10
Velocity feed forward
gain
01000 0.1%
If fixed parameter setting is valid, specify "300" (30%).
1 11
Velocity feed forward
filter
16400 0.01 ms
If fixed parameter setting is valid, set "50" (0.5 ms).
1 12
Torque feed forward
gain
01000 0.1%
If fixed parameter setting is valid, specify "0."
1 13
Torque feed forward
filter
06400 0.01 ms
If fixed parameter setting is valid, specify "0."
(Continued)