Panasonic minas a series Operating Manual page 45

Parameter Setting
Parameters for Defining the Real Time Auto Gain Tuning
Parameter No.
Parameter description
(Pr )
Åñ2 0
Inertia ratio
Åñ2 1
Real time auto tuning set-Up
Åñ2 2
Machine stiffness at auto tuning
Åñ2 3
(Not available)
2 4 ~ 2 F (Internal use)
Parameters for Adjustments (for 2nd Gain)
Parameter No.
Parameter description
(Pr )
Åñ3 0
2nd gain action set-up
Åñ3 1
Position control switching mode
Åñ3 2
Position control switching delay time
Åñ3 3
Position control switching level
Åñ3 4
Position control swiching hysteresis
Åñ3 5
Position loop gain switching time
Åñ3 6
Velocity control switching mode
Åñ3 7
Velocity control switching delay time
Åñ3 8
Velocity control switching level
Åñ3 9
Velocity control switching hysteresis
Åñ3 A
Torque control switching mode
Åñ3 B
Torque control switching delay time
Åñ3 C
Torque control switching level
Åñ3 D
Torque control switching hysteresis
3 E ~ 3 F
(Internal use)
For values marked with << >>, see <Note> in page 44.
<Note>
The following parameters have different default values depending on the Series of the Driver.
Parameter No.
(Pr )
Series MSDA and MQDA
1 1
1 4
1 9
1 C
2 0
100
150
100
150
100
- 44 -
Range Default
0 ~ 10000 <<100>>
0 ~ 3 0
0 ~ 9 2
Range Default
0 ~ 1 0
0 ~ 8 0
0 ~ 10000 0
0 ~ 10000 0
0 ~ 10000 0
0 ~ 10000 0
0 ~ 5 0
0 ~ 10000 0
0 ~ 10000 0
0 ~ 10000 0
0 ~ 3 0
0 ~ 10000 0
0 ~ 10000 0
0 ~ 10000 0
Default
Series MDDA, MFDA, MHDA and MGDA
150
100
150
100
100
Related control
Unit
mode
% P · S · T
P · S · T
P · S · T
Related control
Unit
mode
P · S · T
P
166µs P
P
P
P
(1 + Setting value)
x 166µs
S
166µs S
S
S
T
166µs T
T
T