Panasonic minas a4 series Instruction Manual page 56

Setup of Parameter and Mode
Parameters for Auto-Gain Tuning
Parameter No.
Set up of parameter
(Pr )
20 Inertia ratio
21 Setup of real-time auto-gain tuning mode
22 Mechanical stiffness at real-time auto-gain tuning
23 Setup of adaptive filter mode
24 Selection of damping filter switching
25 Setup of action at normal mode auto-gain tuning
26 Setup of software limit
2F *3 Adaptive filter frequency
*3 this parameter will be automatically set up when the adaptive filter is validated (Pr23, "Setup of adaptive
filter mode" is "1", and you cannot set this up at your discretion. Set up Pr23, "Setup of adaptive filter
mode" to "0" (invalid) to clear this parameter.
Parameters for Adjustment (2nd Gain Switching Function)
Parameter No.
Set up of parameter
(Pr )
30 Setup of 2nd gain
31 1st mode of control switching
32 1st delay time of control switching
33 1st level of control switching
34 1st hysteresis of control switching
35 Time for position gain switching
36 2nd mode of control switching
37 2nd delay time of control switching
38 2nd level of control switching
39 2nd hysteresis of control switching
3A (For manufacturer's use)
3B (For manufacturer's use)
3C (For manufacturer's use)
3D Setup of JOG speed
3E (For manufacturer's use)
3F (For manufacturer's use)
• 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.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/
Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control
54
Default
Range
A to C-frame D to F-frame
0 to 10000 <250>
0 to 7 1
0 to 15 4 1
0 to 2 1
0 to 2 0
0 to 7 0
0 to 1000 10
0 to 64 0
Range Default
0 to 1 <1>
0 to 10 <0>
0 to 10000 <30>
0 to 20000 <50>
0 to 20000 <33>
(1+setup value)
0 to 10000 <20>
0 to 5 <0>
0 to 10000 0
0 to 20000 0
0 to 20000 0
– –
– –
– –
0 to 500 300
– –
– –
Unit Related Control Mode
% All
– All
– All
– P, S, F
– P, F
– All
0.1rev P, F
– P, S, F
Unit Related Control Mode
– All
– All
166µS All
– All
– All
P, F
x 166µs
– S, T
166µS S, T
– S, T
– S, T
– –
– –
– –
r/min All
– –
– –