Panasonic MINAS A6 Series - Page 93

2-53
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Parametr
No.
Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class No.
A,B
-frame
C
-frame
D,E,F
-frame
P S T F
1 03 1st lter of speed detection 0 to 5 0 −
○ ○ ○ ○
4-16
1 04 1st time constant of torque lter 0 to 2500 84 126 0.01 ms
○ ○ ○ ○
1 05 2nd gain of position loop 0 to 30000 480 320 0.1 /s
*
○ ○
4-17
1 06 2nd gain of velocity loop 1 to 32767 270 180 0.1 Hz
*
○ ○ ○ ○
1 07
2nd time constant of velocity loop
integration
1 to 10000 210 310 0.1 ms
*
○ ○ ○ ○
1 08 2nd lter of speed detection 0 to 5 0 −
○ ○ ○ ○
1 09 2nd time constant of torque lter 0 to 2500 84 126 0.01 ms
*
○ ○ ○ ○
1 10 Velocity feed forward gain 0 to 4000 1000 0.10 %
*
○ ○
1 11 Velocity feed forward lter 0 to 6400 0 0.01 ms
*
○ ○
1 12 Torque feed forward gain 0 to 2000 1000 0.10%
*
○ ○ ○
4-18
1 13 Torque feed forward lter 0 to 6400 0 0.01 ms
*
○ ○ ○
1 14 2nd gain setup 0 to 1 1 −
○ ○ ○ ○
1 15 Mode of position control switching 0 to 10 0 −
○ ○
4-19
1 16 Delay time of position control switching 0 to 10000 10 0.1 ms
*
○ ○
1 17 Level of position control switching 0 to 20000 0 −
○ ○
4-20
1 18 Hysteresis at position control switching 0 to 20000 0 −
○ ○
1 19 Position gain switching time 0 to 10000 10 0.1 ms
*
○ ○
1 20 Mode of velocity control switching 0 to 5 0 −
○
4-21
1 21 Delay time of velocity control switching 0 to 10000 0 0.1 ms
*
○
1 22 Level of velocity control switching 0 to 20000 0 −
○
1 23 Hysteresis at velocity control switching 0 to 20000 0 −
○
4-22
1 24 Mode of torque control switching 0 to 3 0 −
○
1 25 Delay time of torque control switching 0 to 10000 0 0.1 ms
*
○
1 26 Level of torque control switching 0 to 20000 0 −
○
1 27 Hysteresis at torque control switching 0 to 20000 0 −
○
1 28 For manufactuer's use − 1000 −
1 29 For manufactuer's use − 1000 −
1 30 For manufactuer's use − 0 −
12. Setup of Parameter and Mode
List of Parameters
Caution
Note
The symbol “
*
” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-16 to P.4-22.
• Partial parameter of standard type and communication type are different from a table in a shipment parameter.
• Denition of symbols under “Power Off/On” - : if a change is made, it will be reected upon the parameter when the
power to the driver is turned off and then on again.
• Denition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control, F: full closed control
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