Panasonic MINAS A6 Series - Setup; 1 Details of Parameter; List of Parameters

4-2
4
1. Details of parameter
Setup
List of Parameters
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•Denitionofsymbolsunder“Relatedmode”-
 P:positioncontrol,S:velocitycontrol,
 T:torquecontrol,F:fullclosedcontrol
•BasicType
,
General communication can not use
part prameter.
[Class 0] Basic setting
00 Rotational direction setup
○ ○ ○ ○
4-6
01 Control mode setup
○ ○ ○ ○
02
Real-time
auto-gain
tuning
setup
Selection of machine
stiffness
○ ○ ○ ○
4-7
03
○ ○ ○ ○
4-8
04 Inertia ratio
○ ○ ○ ○
4-9
05
Command
pulse
input selection
otational direction setup
input mode setup
○ — — ○
06
○ — — ○
4-10
07
○ — — ○
08
Command pulse counts
peronemotorrevolution
○ — — —
4-11
09 1st numerator of electronic gear
○ — — ○
10 Denominator of electronic gear
○ — — ○
11
Output pulse counts per one motor
revolution
○ ○ ○ ○
4-12
12 Reversalofpulseoutputlogic
○ ○ ○ ○
4-14
13 1st torque limit
○ ○ ○ ○
14 Positiondeviationexcesssetup
○ — — ○
15 Absoluteencodersetup
○ ○ ○ ○
16 Externalregenerativeresistorsetup
○ ○ ○ ○
4-15
17
Loadfactorofexternalregenerative
resistor selection
○ ○ ○ ○
18
For manufacturer's use
— — — —
[Class 1] Gain adjustment
00
1st
gain of position loop
gainofvelocityloop
timeconstantofvelocityloop
integration
lterofspeeddetection
timeconstantoftorquelter
2nd
gain of position loop
gainofvelocityloop
timeconstantofvelocityloop
integration
lterofspeeddetection
timeconstantoftorquelter
○ — — ○
4-16
01
○ ○ ○ ○
02
○ ○ ○ ○
03
○ ○ ○ ○
04
○ ○ ○ ○
05
○ — — ○
4-17
06
○ ○ ○ ○
07
○ ○ ○ ○
08
○ ○ ○ ○
09
○ ○ ○ ○
10 Velocityfeed-forwardgain
○ — — ○
11 Velocityfeed-forwardlter
○ — — ○
12
Torquefeedforward
gain
lter
○ ○ — ○
4-18
13
○ ○ — ○
14 2nd gain setup
○ ○ ○ ○
15
Position
control
switching
mode
delay time
level
hysteresis
○ — — ○
4-19
16
○ — — ○
17
○ — — ○
4-20
18
○ — — ○
19 Positiongainswitchingtime
○ — — ○
20 Velocitycontrolswitchingmode
— ○ — —
4-21
21 Velocitycontrolswitchingdelaytime
— ○ — —
[Class 1] Gain adjustment
22 Velocitycontrolswitchinglevel
— ○ — —
4-21
23
Velocitycontrolswitchinghysteresis
— ○ — —
4-22
24 Torquecontrolswitchingmode
— — ○ —
25 Torquecontrolswitchingdelaytime
— — ○ —
26 Torquecontrolswitchinglevel
— — ○ —
27
Torquecontrolswitching
hysteresis
— — ○ —
28
For manufacturer's use
— — — —
29
For manufacturer's use
— — — —
30
For manufacturer's use
— — — —
31
For manufacturer's use
— — — —
32
For manufacturer's use
— — — —
33
For manufacturer's use
— — — —
34
For manufacturer's use
— — — —
35
For manufacturer's use
— — — —
36
For manufacturer's use
— — — —
37
For manufacturer's use
— — — —
38
For manufacturer's use
— — — —
39
For manufacturer's use
— — — —
40
For manufacturer's use
— — — —
41
For manufacturer's use
— — — —
42
For manufacturer's use
— — — —
43
For manufacturer's use
— — — —
44
For manufacturer's use
— — — —
45
For manufacturer's use
— — — —
46
For manufacturer's use
— — — —
47
For manufacturer's use
— — — —
48
For manufacturer's use
— — — —
49
For manufacturer's use
— — — —
50
For manufacturer's use
— — — —
51
For manufacturer's use
— — — —
52
For manufacturer's use
— — — —
53
For manufacturer's use
— — — —
54
For manufacturer's use
— — — —
55
For manufacturer's use
— — — —
56
For manufacturer's use
— — — —
57
For manufacturer's use
— — — —
58
For manufacturer's use
— — — —
59
For manufacturer's use
— — — —
60
For manufacturer's use
— — — —
61
For manufacturer's use
— — — —
62
For manufacturer's use
— — — —
63
For manufacturer's use
— — — —
64
For manufacturer's use
— — — —
65
For manufacturer's use
— — — —
66
For manufacturer's use
— — — —
67
For manufacturer's use
— — — —
68
For manufacturer's use
— — — —
69
For manufacturer's use
— — — —
70
For manufacturer's use
— — — —
71
For manufacturer's use
— — — —
72
For manufacturer's use
— — — —
73
For manufacturer's use
— — — —
74
For manufacturer's use
— — — —
75
For manufacturer's use
— — — —
76
For manufacturer's use
— — — —
77
For manufacturer's use
— — — —
78
For manufacturer's use
— — — —
Parametr No.
Title
Related Control Mode
Detail
page
Class No.
P S T F
Parametr No.
Title
Related Control Mode
Detail
page
Class No.
P S T F
Note
•OnlyforbasictypeisnotprovidedwithX2(Communicationconnector),X3(Safetyfunction
connector),X5(Externalscaleconnector)andanaloginput.
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