Panasonic minas a series - Parameter Setting; Parameters for Defining the Real Time Auto Gain Tuning; Parameters for Adjustments (for 2 nd Gain)

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Parameter Setting
Parameters for Defining the Real Time Auto Gain Tuning
Parameters for Adjustments (for 2nd Gain)
Parameter No.
Parameter description Range Default Unit
Related control
(Pr ) mode
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control swiching hysteresis
Position loop gain switching time
Velocity control switching mode
Velocity control switching delay time
Velocity control switching level
Velocity control switching hysteresis
Torque control switching mode
Torque control switching delay time
Torque control switching level
Torque control switching hysteresis
(Internal use)
0 ~ 1
0 ~ 8
0 ~ 10000
0 ~ 10000
0 ~ 10000
0 ~ 10000
0 ~ 5
0 ~ 10000
0 ~ 10000
0 ~ 10000
0 ~ 3
0 ~ 10000
0 ~ 10000
0 ~ 10000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
166µs
(1 + Setting value)
x 166µs
166µs
166µs
P · S · T
P
P
P
P
P
S
S
S
S
T
T
T
T
Åñ3 0
Åñ3 1
Åñ3 2
Åñ3 3
Åñ3 4
Åñ3 5
Åñ3 6
Åñ3 7
Åñ3 8
Åñ3 9
Åñ3 A
Åñ3 B
Åñ3 C
Åñ3 D
3 E ~ 3 F
Parameter No.
Parameter description Range Default Unit
Related control
(Pr ) mode
Inertia ratio
Real time auto tuning set-Up
Machine stiffness at auto tuning
(Not available)
(Internal use)
0 ~ 10000
0 ~ 3
0 ~ 9
<<100>>
0
2
% P · S · T
P · S · T
P · S · T
Åñ2 0
Åñ2 1
Åñ2 2
Åñ2 3
2 4 ~ 2 F
For values marked with << >>, see <Note> in page 44.
<Note>
The following parameters have different default values depending on the Series of the Driver.
Series MSDA and MQDA
100
150
100
150
100
Parameter No.
(Pr )
1 1
1 4
1 9
1 C
2 0
Default
Series MDDA, MFDA, MHDA and MGDA
150
100
150
100
100