Panasonic minas a4 series Instruction Manual page 55

Parameters for Functional Selection
Parameter No.
Set up of parameter
(Pr )
00 *1 Address of axis
01 *1 Initial display of LED
02 *1 Setup of control mode
03 Selection of torque limit
04 *1 Setup of over-travel inhibit input
05 Switching of Internal/External speed setup
06 Selection of ZEROSPD input
07 Selection of speed monitor (SP)
08 Selection of torque monitor (IM)
09 Selection of TLO output
0A Selection of ZSP output
0B *1 Setup of absolute encoder
0C *1 Baud rate setup of RS232
0D *1 Baud rate setup of RS485
0E *1 Setup of front panel lock
0F (For manufacturer's use)
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter No.
Set up of parameter
(Pr )
10 1st gain of position loop
11 1st gain of velocity loop
12 1st time constant of velocity loop integration
13 1st filter of velocity detection
14 1st time constant of torque filter
15 Velocity feed forward
16 Time constant of feed forward filter
17 (For manufacturer's use)
18 2nd gain of position loop
19 2nd gain of velocity loop
1A 2nd Time constant of velocity loop integration
1B 2nd filter of velocity detection
1C 2nd torque filter time constant
1D 1st notch frequency
1E Selection of 1st notch width
1F (For manufacturer's use)
27 Setup of instantaneous velocity observer
28 2nd notch frequency
29 Selection of 2nd notch width
2A Selection of 2nd notch depth
2B 1st damping frequency
2C Setup of 1st damping filter
2D 2nd damping frequency
2E Setup of 2nd damping filter
• For parameters which default values are parenthesized by "< >", default value varies automatically by the
real-time auto-gain tuning function. Set up Pr21 (Setup of Real-time auto-gain tuning mode) to 0 (invalid)
when you want to adjust manually.
Range Default
0 to 15 1
0 to 17 1
0 to 6 1
0 to 3 1
0 to 2 1
0 to 3 0
0 to 2 0
0 to 9 3
0 to 12 0
0 to 8 0
0 to 8 1
0 to 2 1
0 to 5 2
0 to 5 2
0 to 1 0
– –
Default
Range
A to C-frame D to F-frame
0 to 3000 <63> <32>
1 to 3500 <35> <18>
1 to 1000 <16> <31>
0 to 5 <0>
0 to 2500 <65> <126>
–2000 to 2000 <300>
0 to 6400 <50>
– –
0 to 3000 <73> <38>
1 to 3500 <35> <18>
1 to 1000 <1000>
0 to 5 <0>
0 to 2500 <65> <126>
100 to 1500 1500
0 to 4 2
– –
0 to 1 <0>
100 to 1500 1500
0 to 4 2
0 to 99 0
0 to 2000 0
–200 to 2000 0
0 to 2000 0
–200 to 2000 0
[Preparation]
Unit Related Control Mode
– all
– all
– all
– P, S, F
– all
– S
– S, T
– all
– all
– all
– all
– all
– all
– all
– all
– –
Unit Related Control Mode
1/s P, F
Hz all
ms all
– all
0.01ms all
0.1% P, F
0.01ms P, F
– –
1/s P, F
Hz all
ms all
– all
0.01ms all
Hz all
– all
– –
– P, S
Hz all
– all
– all
0.1Hz P, F
– P, F
0.1Hz P, F
– P, F
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