Panasonic MINAS A6 Series Operating Instructions Manual page 271

1. Details of parameter
[Class 6] Special setting
Pr6.07
Torque command additional value
• Set up the offset load compensation value usually added to the torque command in a
control mode except for the torque control mode.
• Update this parameter when the vertical axis mode for real time auto-tuning is valid.
Positive direction torque compensation
Pr6.08
value
• Set up the dynamic friction compensation value to be added to the torque command when
forward positional command is fed.
• Update this parameter when the friction compensation mode for real time auto-tuning is valid.
Negative direction torque compensation
Pr6.09
value
• Set up the dynamic friction compensation value to be added to the torque command when
negative direction positional command is fed.
• Update this parameter when the friction compensation mode for real time auto-tuning is valid.
Pr6.10
Function expansion setup
Set up the function in unit of bit.
bit 0
bit 1
bit 2
bit 3
bit 4
bit 5
bit 6 to 8
bit 9
bit 10
bit 11
bit 12
bit 13
bit 14
bit 15
*
The least significant bit is considered as bit0.
*1 When the encoder overheat alarm is generated, Err15.1 "Encoder overheat
abnormality protection" is generated together.
*2 Valid only when position control setting (Pr0.01 = 0) and block operation setting
is invalid (Pr6.28 = 0).
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Function
Not used
Load fluctuation control funtion
Not used
Inertia ratio switching
Current response improvement
Analog torque FF
Not used
For manufacturer's use
Positional deviation of falling
prevention function during alarm
Encoder overheat abnormality
protectiondetection
Not used
For manufacturer's use
Load variation suppression
functionautomatic adjustment setting
Slow stop function.
Range Unit
−100 to 100 %
Range Unit
−100 to 100 %
Range Unit
−100 to 100 %
Range Unit
-32768 to 32767 —
Setup value
[0]
Fixed to 0.
Invalid
Fixed to 0.
Invalid
Invalid
Invalid
Fixed to 0.
Fixed to 0.
Invalid (hold)
Invalid
Fixed to 0.
Fixed to 0.
Invalid
Invalid
1
Default: [ ]
Related
Default
control mode
0 P S F
2
Related
Default
control mode
0 P F
3
Related
Default
control mode
0 P F
4
Related
Default
control mode
16 P S T F
1
5
Valid
Valid
Valid
Valid
6
Valid (clear)
*1
Valid
Valid
*2
Valid
7
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