Composition And List Of Parameters - Panasonic MADDT1207 Technical Reference

4. Parameter

Composition and List of Parameters

Group
Functional selection
Adjustment
Position (Step)
Control
Velocity Control,
Torque Control
Sequence
Full-Closed Control
• In this document, following symbols represent each mode.
Symbol Control mode
P Position control
S Velocity control
T Torque control
F Full-Closed control
* When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd
with control mode switching input (C-MODE).
when C-MODE is open : 1st mode selection
when C-Mode is closed: 2nd mode selection
Do not enter the command 10ms before/after the switching.
Parameter No.
(Pr )
00 to 0F You can select a control mode, designate I/O
signals and set up a baud rate.
10 to 1F, You can set up servo gains (1st and 2nd) of
27 to 2E position, velocity, integration, etc, and time
constants of various filters.
20 to 26, 2F Parameters related to Real Time Auto-Gain Tuning. You
can set up a mode and select a mechanical stiffness.
30 to 3F You can set up parameters related to gain
switching(1st
40 to 4F You can set up an input form, directional selection
of command pulses, dividing of encoder output
pulse and set up a division multiplier ratio of
command pulse.
50 to 5A, You can set up an input gain of command pulse,
74 to 77 reverse polarity and adjust offset. You can also set
up internal speeds (1 to 8th speed), acceleration/
deceleration time.
5B to 5F You can set an input gain, reverse polarity and set
up a torque limit of torque command.
60 to 6F You can set up detecting conditions of output signals,
such as positioning-complete and zero-speed.
You can also set up a deceleration/stop action at
main power-off, at alarm output and at servo-off,
and clear condition of the deviation counter.
70 to 73 You can set up actions of protective functions.
78 to 7F You can set up dividing of external scale.
Setup value
Symbol
of Pr02
0 P/S
1 P/T
2 S/T
6
– B30 –
Outline
2nd)
Control mode
Position (1st)/Velocity (2nd) control
Position (1st)/Torque (2nd) control
Velocity (1st)/Torque (2nd) control
Setup value
of Pr02
3*
4*
5*