[Class 6] Special Setting - Panasonic MINAS A6 Series Operating Instructions Manual

4
Setup
Analog torque feed forward conversion
Pr6.00
gain
• Set the input gain of analog torque feed forward.
0 to 9 are invalid.
<Usage example of Analog torque feed forward>
• Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque feed
forward. When the analog input 3 is used by another function (e.g. analog torque limit), the
function becomes invalid.
• The voltage (V) applied to the analog input 3 is converted to the torque via Pr6.00 Analog
torque feed forward conversion gain setup and added to the torque command (%): in CCW
direction if it is positive voltage or in CW direction if negative.
• The conversion of analog input 3, input voltage [V], to the torque command [%] to the
motor may be expressed mathematically as follows:
Torque command (%) = 100 × input voltage (V) / (Pr6.00 setup value × 0.1)
Pr6.02
Velocity deviation excess setup
When the speed deviation (difference between internal positional command and actual
speed) exceeds this value, Err24.2 Speed over deviation protection occurs.
This protection is not detected when the setup value is 0.
Pr6.04
JOG trial run command speed
Set up the command speed used for JOG trial run (velocity control).
Related page
Before using, refer to P.4-66 Preparation Trial Run.
Pr6.05
Position 3rd gain valid time
• Set up the time at which 3rd gain becomes valid.
• When not using this parameter, set Pr6.05 to 0 and Pr6.06 to 100.
• This is valid for only position control/full-closed control.
Pr6.06
Position 3rd gain scale factor
• Set up the 3rd gain by a multiplying factor of the 1st gain:
• 3rd gain = 1st gain × Pr6.06/100
Note
• A parameter is designated as follows:
• For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-32... "Inputs and outputs on connector X4"
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1. Details of parameter

[Class 6] Special setting

Range
0 to 100 0.1 V/100 %
Range
0 to 20000
Range
0 to 500
Range
0 to 10000 0.1 ms
Range
50 to 1000
Pr0.00 Parameter No.
Class
Default: [ ]
Related
Unit Default
control mode
0 P S
Related
Unit Default
control mode
r/min 0 P
Related
Unit Default
control mode
r/min 300 P S T F
Related
Unit Default
control mode
0 P
Related
Unit Default
control mode
%
100 P
F
F
F