Panasonic MINAS-A5B Series - Page 63

No. SX-DSV02472 -57-
7) Basic gain parameter setup table
Stiffness
1st gain
2nd gain
A4N
Series
stiffness
setup
(reference)
*1
Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.04
*2
Pr 1.05 Pr 1.06 Pr 1.07
*3
Pr 1.09
*2
Position
[0.1/s]
Velocity
[0.1 Hz]
Velocity
loop
integration
[0.1 ms]
Torque
[0.01 ms]
Position
[0.1/s]
Velocity
[0.1 Hz]
Velocity
loop
integration
[0.1 ms]
Torque
[0.01 ms]
0
20
15
3700
1500
25
15
10000
1500
1
25
20
2800
1100
30
20
10000
1100
2
30
25
2200
900
40
25
10000
900
3
40
30
1900
800
45
30
10000
800
4
45
35
1600
600
55
35
10000
600
5
55
45
1200
500
70
45
10000
500
6
75
60
900
400
95
60
10000
400
7
95
75
700
300
120
75
10000
300
8
115
90
600
300
140
90
10000
300
0
9
140
110
500
200
175
110
10000
200
10
175
140
400
200
220
140
10000
200
11
320
180
310
126
380
180
10000
126
1
12
390
220
250
103
460
220
10000
103
2
13
480
270
210
84
570
270
10000
84
3
14
630
350
160
65
730
350
10000
65
4
15
720
400
140
57
840
400
10000
57
5
16
900
500
120
45
1050
500
10000
45
6
17
1080
600
110
38
1260
600
10000
38
7
18
1350
750
90
30
1570
750
10000
30
8
19
1620
900
80
25
1880
900
10000
25
9
20
2060
1150
70
20
2410
1150
10000
20
10
21
2510
1400
60
16
2930
1400
10000
16
11
22
3050
1700
50
13
3560
1700
10000
13
12
23
3770
2100
40
11
4400
2100
10000
11
13
24
4490
2500
40
9
5240
2500
10000
9
14
25
5000
2800
35
8
5900
2800
10000
8
26
5600
3100
30
7
6500
3100
10000
7
15
27
6100
3400
30
7
7100
3400
10000
7
28
6600
3700
25
6
7700
3700
10000
6
29
7200
4000
25
6
8400
4000
10000
6
30
8100
4500
20
5
9400
4500
10000
5
31
9000
5000
20
5
10500
5000
10000
5
*1 Stiffness setting of A4 series refers to the setup value (0–15) of A4 series parameter Pr 22 “Real-time
auto-tuning machine stiffness selection”.
*2 When 17-bit absolute encoder, limited by the minimum value 10.
*3 In the vertical axis mode or friction compensation mode (Pr0.02=3,4), Pr1.07 is kept at 9999 until load
characteristic estimation is completed.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation