Panasonic MINAS A6 Series - Page 280

4-78
Note
Related page
•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: [ ]
Pr6.47
＊
Functionexpansionsettings2
Range Unit Default
Related
control mode
−32768to32767 — 1 P S T F
Set up the function in unit of bit.
Function
Setup value
0 1
bit 0 Two-degree-of-freedomcontrolmode Invalid Valid
bit 1 Notused Fixedto0
bit 2
Encoder/externalscalecommunication
error judgment setting
Compatiblewith
previoussetting
Relaxerror/
alarm judgment.
bit 3 Autotuningselection
＊
1
Standard type Synchronous type
bit 4 to 7 Notused Fixedto0
bit 8 For manufacturer's use Fixedto0
bit 9 to 10 Notused Fixedto0
bit 11 Immediatestopalarmextension Invalid Valid
bit 12 to 13 Manufacturer use Fixedto0
bit 14
Quadrant projection suppression function Invalid Valid
bit 15 NotusedFixat0. Fixedto0
* The least signicant bit is considered as bit0.
*Regarding bit3 (two-degree-of-freedom control real-time auto tuning selection), the function
is available only when bit0 is set to 1: Enabled.
*
1 Fordetailsofthetype,refertoP.5-10Realtimeautotuning(two-degree-of-freedomcontrol,standard
type)andP.5-17Realtimeautotuning(two-degree-of-freedomcontrol,synchronoustype).
Pr6.48
Adjust filter
Range Unit Default
Related
control mode
0 to 2000 0.1 ms
SizeA:11
SizeB,C:12
SizeD,E,F:17
P S F
Settimeconstantofadjustmentlterfortwo-degree-of-freedomcontrol(positionandspeed).
Pr6.49
Adjust/Torque command attenuation term
Range Unit Default
Related
control mode
0 to 99 — 15 P F
Setattenuationtermofthecommandlterandadjustmentlterfortwo-degree-of-freedom
control(positionandspeed).
Decimalnotation:1stdigitsetscommandlterand2nddigitsetsadjustmentlter.
value of digit Content
0 to 4 Withoutattenuationterm(functionsas1stlter).
5 to 9 The2ndlter(attenuationtermζis1.0,0.86,0.71,0.50and0.35,inthatorder).
But,whenPr2.13(Selectionofdampinglterswitching)issetup4,The2ndlter
attenuation
termxxed1.0.
Example:Tosetcommandlterζ=1.0,adjustmentlter1_=0.71:
 Setupvalue=751stdigit=5(ζ=1.0),2nddigit=7(ζ=0.71)
 Pr2.22Commandsmoothinglterisappliedastimeconstantofcommandlter.
1. Details of parameter
[Class 6] Special setting
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