Panasonic Minas-LIQI Series Technical Reference page 34

7）Basic gain parameter settings table
Pr1.00 Pr1.01
Stiffness
Position
[0.1/s] [0.1 Hz]
0 20
1 25
2 30
3 40
4 45
5 55
6 75
7 95
8 115
9 140
10 175
11 320
12 390
13 480
14 630
15 720
16 900
17 1080
18 1350
19 1620
20 2060
21 2510
22 3050
23 3770
24 4490
25 5000
26 5600
27 6100
28 6600
29 7200
30 8100
31 9000
*1 Hardness settings of A4 series refers to the setting values (0 to 15) of A4 series parameter Pr22 "Real-time auto tuning machine hardness
selection."
*2 For 2500[p/r] encoder, a value is limited to 25, a maximal value.
Gain 1
Pr1.04
Pr1.02 *2
Velocity
Speed Torque
integral
[0.01 ms]
[0.1 ms]
15 3700 1500
20 2800 1100
25 2200 900
30 1900 800
35 1600 600
45 1200 500
60 900 400
75 700 300
90 600 300
110 500 200
140 400 200
180 310 126
220 250 103
270 210 84
350 160 65
400 140 57
500 120 45
600 110 38
750 90 30
900 80 25
1150 70 20
1400 60 16
1700 50 13
2100 40 11
2500 40
2800 35
3100 30
3400 30
3700 25
4000 25
4500 20
5000 20
Pr1.05 Pr1.06
Position Speed
[0.1/s] [0.1 Hz]
25 15
30 20
40 25
45 30
55 35
70 45
95 60
120 75
140 90
175 110
220 140
380 180
460 220
570 270
730 350
840 400
1050 500
1260 600
1570 750
1880 900
2410 1150
2930 1400
3560 1700
4400 2100
9 5240 2500
8 5900 2800
7 6500 3100
7 7100 3400
6 7700 3700
6 8400 4000
5 9400 4500
5 10500 5000
Motor Business Unit, Appliances Company, Panasonic Corporation
№SR-ZSV00039 － 30 －
Gain 2
Pr1.09
Pr1.07 *2
Velocity
Torque
integral
[0.01 ms]
[0.1 ms]
10000 1500
10000 1100
10000 900
10000 800
10000 600
10000 500
10000 400
10000 300
10000 300
10000 200
10000 200
10000 126
10000 103
10000 84
10000 65
10000 57
10000 45
10000 38
10000 30
10000 25
10000 20
10000 16
10000 13
10000 11
10000 9
10000 8
10000 7
10000 7
10000 6
10000 6
10000 5
10000 5
A4 Series
stiffness
setting
(Reference)
*1
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15