Panasonic MINAS A6 Multi Series - 9.1 List of Parameters; 9.1.1 Class 0: Basic Setting

List of Parameters
9-2
9.1 List of parameters
The attribute of a parameter indicates the point at which the modified parameter setting becomes
effective.
Attribute
Description
A
Always effective
B
Avoid changes during motor operation and command dispatch as much as possible as it may cause transient unstable
operation.
* Reflection timing of parameter change made during the motor operation or command transfer is not defined.
C
Effective after reset control power or after pin assign setting from PANATERM for Multi
R
Effective after reset control power
X
Read only - It cannot be changed using the normal procedure.
S
Shared by multiple axes
 The setting value specified for one axis becomes valid for both Axis A and Axis B with this parameter.
The same value appears for both Axis A and Axis B when the parameter is read.
When a parameter is written, the change is reflected in both Axis A and Axis B regardless of whether it is written for Axis
A or Axis B.
 The change is reflected on both Axis A and Axis B when a parameter with the shared by multiple axes attribute is written
even if some of the axes are disabled by Pr0.20 "Axis limit setting"
9.1.1 Class 0: Basic setting
No.
Title
Unit
Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
00
For manufacturer’s
use
-
-
2
Permanently set at 1.
-
-
-
01
Control mode setup
-
0 to 6
2
Select the control mode of the servo
driver.
0: semi-closed control
(position/velocity/torque control,
selectable)
1 to 5:To be used by the
manufacturer but not by the
user.
6: Full-closed control (Position
control only)
* The first edition of the software
version (Ver1.01) does not support
the setting value 6.
R
All
-
02
Real-time auto-gain
tuning setup
-
0 to 6
2
You can set up the action mode of
the real-time auto-gain tuning.
B
All
5.1.1
5.1.3
5.1.4
03
Real-time
auto-tuning machine
stiffness setup
-
0 to 31
2
Set the machine stiffness during
real-time auto-gain tuning.
B
All
5.1.1
5.1.3
5.1.4
04
Inertia ratio
%
0 to
10000
2
You can set up the ratio of the load
inertia against the rotor (of the
motor) inertia.
B
All
-
08
For manufacturer’s
use
-
-
4
Permanently set at 0.
-
-
-
09
For manufacturer’s
use
-
-
4
Permanently set at 1.
-
-
-
10
For manufacturer’s
use
-
-
4
Permanently set at 1.
-
-
-
11
For manufacturer’s
use
-
-
4
Permanently set at 2500.
-
-
-
12
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
(To be continued)