Panasonic MINAS A6 Multi Series - Page 268

List of Parameters
9-24
No.
Title
Unit
Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
49
Command / tuning
filter damping
—
0 to 99
2
Set the attenuation term for the
command filter and tuning filter in 2
degrees of freedom control.
A decimal number indication is
used. The first digit sets the
command filter and the second digit
sets the tuning filter.
Target digit
0 to 4: No attenuation term, ζ
(operated as primary filter) 5
to 9: Secondary filter
(Attenuation terms will be 1.0,
0.86, 0.71, 0.50, and 0.35 in
order.)
Example) To set the command filter
to ζ=1.0 and tuning filter 1 to ζ=0.71,
the setting value should be 75 (first
digit=5 (ζ=1.0), second digit=7
(ζ=0.71)).
For the time constant of the
command filter, Pr2.22 "Positional
command smoothing filter" will be
applied.
B
Position,
Full-closed
5.2.16
5.2.18
50
Viscous friction
compensating gain
0.1%/
(10000r/m
in)
0 to
10000
2
The command velocity is multiplied
by this setting value, which becomes
a correction amount added to the
torque command.
The unit is [rated torque 0.1%/
(10000 r/min)].
B
Position,
Velocity,
Full-closed
5.2.16
5.2.17
5.2.18
51
Wait time for
emergency stop
ms
0 to
10000
2
Set the time to maintain the motor
energization after the brake release
output (BRK-OFF) is turned OFF in
the event of an alarm requiring
emergency stop.
Enabled even when Pr6.10
"Function expansion setup" is set to
a value other than bit10=1.
B
All
6.3.6
52
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
53
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
54
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
57
Torque saturation
error protection
detection time
ms
0 to 5000
2
Set the torque saturation error
protection detection time.
If torque saturation continues for the
set time or more, Err16.1 "torque
saturation error protection" occurs.
When 0 is set, the value set for
Pr7.16 is enabled.
B
Position,
Velocity,
Full-closed
6.4
58
For manufacturer’s
use
-
-
4
Permanently set at 0.
-
-
-
59
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
60
2nd damping depth
-
0 to 1000
2
Set the damping depth for the 2nd
damping function.
B
Position,
Full-closed
5.2.7
61
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
62
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
63
For manufacturer’s
use
-
-
2
Permanently set at 0.
-
-
-
(To be continued)