Panasonic MINAS A6 Series - Page 271

4-69
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Default: [ ]
Pr6.07
Torque command additional value
Range Unit Default
Related
control mode
−100to100 % 0 P S F
•Setuptheoffsetloadcompensationvalueusuallyaddedtothetorquecommandina
controlmodeexceptforthetorquecontrolmode.
•Updatethisparameterwhentheverticalaxismodeforrealtimeauto-tuningisvalid.
Pr6.08
Positive direction torque compensation
value
Range Unit Default
Related
control mode
−100to100 % 0 P F
•Setupthedynamicfrictioncompensationvaluetobeaddedtothetorquecommandwhen
forwardpositionalcommandisfed.
• Updatethisparameterwhenthefrictioncompensationmodeforrealtimeauto-tuningisvalid.
Pr6.09
Negative direction torque compensation
value
Range Unit Default
Related
control mode
−100to100 % 0 P F
•Setupthedynamicfrictioncompensationvaluetobeaddedtothetorquecommandwhen
negativedirectionpositionalcommandisfed.
• Updatethisparameterwhenthefrictioncompensationmodeforrealtimeauto-tuningisvalid.
Pr6.10
Functionexpansionsetup
Range Unit Default
Related
control mode
-32768 to 32767
— 16 P S T F
Set up the function in unit of bit.
Function
Setup value
[0] 1
bit 0 Notused Fixedto0.
bit 1 Loaductuationcontrolfuntion Invalid Valid
bit 2 Notused Fixedto0.
bit 3 Inertiaratioswitching Invalid Valid
bit 4 Currentresponseimprovement Invalid Valid
bit 5 AnalogtorqueFF Invalid Valid
bit 6 to 8 Notused Fixedto0.
bit 9 For manufacturer's use Fixedto0.
bit 10
Positionaldeviationoffalling
preventionfunctionduringalarm
Invalid(hold) Valid(clear)
bit 11
Encoderoverheatabnormality
protectiondetection
Invalid Valid
*1
bit 12 Notused Fixedto0.
bit 13 For manufacturer's use Fixedto0.
bit 14
Loadvariationsuppression
functionautomatic adjustment setting
Invalid Valid
bit 15 Slowstopfunction. Invalid Valid
*2
*
Theleastsignicantbitisconsideredasbit0.
*1Whentheencoderoverheatalarmisgenerated,Err15.1"Encoderoverheat
abnormalityprotection"isgeneratedtogether.
*2Validonlywhenpositioncontrolsetting(Pr0.01=0)andblockoperationsetting
isinvalid(Pr6.28=0).
1. Details of parameter
[Class 6] Special setting
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com