Panasonic MINAS A6 Multi Series - 9.1.2 Class 1: Gain Adjustment

List of Parameters
9-4
9.1.2 Class 1: Gain adjustment
No.
Title
Unit
Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
00
1st gain of position
loop
0.1/s
0 to
30000
2
Set the 1st gain of position loop.
B
Position,
Full-closed
5.2
01
1st velocity loop
gain
0.1 Hz
1 to
32767
2
Set the 1st gain of velocity loop.
B
All
5.2
02
1st velocity loop
integration time
constant
0.1 ms
1 to
10000
2
Set the 1st velocity loop integration
time constant.
Keep integration if setting value is
9999.
Becomes invalid if setting value is
10000.
B
All
5.2
03
1st filter of velocity
detection
-
0 to 5
2
Set the 1st velocity detection filter to
one of 6 levels.
B
All
5.2
04
1st torque filter time
constant
0.01 ms
0 to 2500
2
Set the time constant of the 1st
torque filter.
B
All
5.2
05
2nd gain of position
loop
0.1/s
0 to
30000
2
Set the 2nd position loop gain.
B
Position,
Full-closed
5.2
06
2nd velocity loop
gain
0.1 Hz
1 to
32767
2
Set the 2nd velocity proportional
gain.
B
All
5.2
07
2nd velocity loop
integration time
constant
0.1 ms
1 to
10000
2
Set the 2nd velocity integration time
constant.
Keep integration if setting value is
9999.
Becomes invalid if setting value is
10000.
B
All
5.2
08
2nd filter of velocity
detection
-
0 to 5
2
Set the 2nd velocity detection filter
to one of 6 levels.
B
All
5.2
09
2nd torque filter time
constant
0.01 ms
0 to 2500
2
Set the time constant of the 2nd
torque filter.
B
All
5.2
10
Velocity feed
forward gain
0.1%
0 to 4000
2
Set the velocity feed forward gain.
B
Position,
Full-closed
5.2.9
11
Velocity feed
forward filter
0.01 ms
0 to 6400
2
Set the time constant of velocity
feed forward filter.
*It becomes invalid in
two-degree-of-freedom control
mode.
B
Position,
Full-closed
5.2.9
12
Torque feed forward
gain
0.1%
0 to 2000
2
Set the torque feed forward gain.
B
All
5.2.9
13
Torque feed forward
filter
0.01 ms
0 to 6400
2
Set the torque feed forward filter.
B
All
5.2.9
14
2nd gain setup
-
0 to 1
2
Using the gain switching function,
set this parameter for the best
tuning.
B
All
5.2.5
15
Mode of position
control switching
-
0 to 10
2
Set the condition of gain switching
for position control.
B
Position,
Full-closed
5.2.5
16
Delay time of
position control
switching
0.1 ms
0 to
10000
2
Set the delay time when switching
from 2nd to 1st gain.
B
Position,
Full-closed
5.2.5
17
Level of position
control switching
-
0 to
20000
2
Set the gain switching level.
B
Position,
Full-closed
5.2.5
18
Hysteresis at
position control
switching
-
0 to
20000
2
Set the hysteresis at gain switching.
B
Position,
Full-closed
5.2.5
19
Position gain
switching time
0.1 ms
0 to
10000
2
Set the position gain switching time
upon gain switching.
B
Position,
Full-closed
5.2.5
20
Mode of velocity
control switching
-
0 to 5
2
Set the condition of gain switching
for velocity control
B
Velocity
5.2.5
(To be continued)