Panasonic MINAS A6 Series - [Class 0] Basic Setting

4-6
4
1. Details of parameter
Setup
[Class 0] Basic setting
Pr0.00
*
Rotational direction setup
Range Unit Default
Related
control mode
0 to 1 — 1 P S T F
Setuptherelationshipbetweenthedirectionofcommandanddirectionofmotorrotation.
0:MotorturnsCWinresponsetopositivedirectioncommand(CWwhenviewedfromload
sideshaftend)
1:MotorturnsCCWinresponsetopositivedirectioncommand (CCWwhenviewedfromload
sideshaftend)
Positive direction
(CCW)
Default
Negative direction
(CW)
Setup
value
Command direction
Motor rotational
direction
Positive direction
drive inhibit input
Negative direction
drive inhibit input
0
Positivedirection CW Valid —
Negativedirection CCW — Valid
[1]
Positivedirection CCW Valid —
Negativedirection CW — Valid
Pr0.01
*
Control mode setup
Range Unit Default
Related
control mode
0 to 6 — 0 P S T F
You can set up the control mode to be used.
Standard type and Communication type setting range is
0,1,3
.
Setup
value
Content
1st mode 2st mode
[0] Position —
1 Velocity —
2 Torque —
3
*
1
Position Velocity
4
*1
Position Torque
5
*
1
Velocity Torque
6 Full-closed —
*
1) Whenyousetupthecombinationmodeof3,
4or5,youcanselecteitherthe1storthe2nd
withcontrolmodeswitchinginput(C-MODE).
 WhenC-MODEisopen,the1stmodewillbe
selected.
 WhenC-MODEisshorted,the2ndmodewill
be selected.
Don't enter commands 10 ms before/after
switching.
1st 2nd
close
open
C-MODE
10 ms or longer 10 ms or longer
open
1st
Thewaveformaboveshowswhenlogical
setting of C-MODE input is a-contact. When
b-contactisused,openandshortisreversed.
Note
Two-degree-of-freedomcontrolcan
beselectedwithPr6.47.
Fordetails,refertoPr6.47(P.4-64).
Note
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•ForparameterswhichNo.haveasuffixof“
*
”,changedcontentswillbevalidated
whenyouturnonthecontrolpower.
•P.3-32...“InputsandoutputsonconnectorX4”
Default:[]
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