For Manufacturer's Use - Panasonic MINAS A6 Multi Series Technical Reference

Attribute
Class No.
(Note 1)
1 20 B
1 21 B
1 22 B
1 23 B
1 24 B
1 25 B
1 26 B
1 27 B
Title Range
Mode of velocity 0 to 5
control switching
Delay time of 0 to
velocity control 10000
switching
Level of velocity 0 to
control switching 20000
Hysteresis at 0 to
velocity control 20000
switching
Mode of torque 0 to 3
control switching
Delay time of 0 to
torque control 10000
switching
Level of torque 0 to
control switching 20000
Hysteresis at 0 to
torque control 20000
switching
Unit Function
- For velocity controlling: Set the condition to trigger gain
switching.
Setup value
0
1
2
3
4
5
0.1 ms For velocity controlling: When shifting from the 2nd gain to
the 1st gain with Pr 1.20 "Velocity control switching mode"
set at 3, 4 or 5, set the delay time from trigger detection to
the switching operation.
Mode For velocity controlling: Set up triggering level when Pr 1.20
dependent Velocity control gain switching mode is set at 3, 4 or 5.
Unit of setting varies with switching mode.
Set the level equal to or higher than the hysteresis.
Mode For velocity controlling: Set up triggering hysteresis when
Pr 1.20 "Velocity control gain switching mode" is set at 3, 4
dependent
or 5.
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally
adjusted so that it is equal to level.
- For torque controlling: Set the condition to trigger gain
switching
Setup value Switching condition
0 Fixed to 1st gain
1 Fixed to 2nd gain

For manufacturer's use

2
3 Torque command
0.1 ms For torque controlling: When shifting from the 2nd gain to
the 1st gain with Pr 1.24 "Torque control switching mode"
set at 3, set up the delay time from trigger detection to the
switching operation.
Mode For torque controlling: Set up triggering level when Pr 1.24
dependent Torque control gain switching mode is set at 3.
Unit varies depending on the setup of mode of control
switching.
Set the level equal to or higher than the hysteresis.
Mode For torque controlling: Set up triggering hysteresis when Pr
dependent 1.24 Torque control gain switching mode is set at 3.
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally
adjusted so that it is equal to level.
Auto Tuning Functions
Switching condition
Fixed to 1st gain
Fixed to 2nd gain
For manufacturer's use
Torque command
Velocity command variation is larger.
Velocity command
5-32