Panasonic MINAS-BL KP Series Reference Specifications page 15

Parameter
No.
Name of parameter
(Pr□□)
The 4th target posi-
tion
18
(rotation number)
The 4th target posi-
19
tion (Pulse)
The 4th coordinate
1A
setting
The 4th setting
1b
speed
The 4th
1C
acceleration time
The 4th
1d
deceleration time
The 4th block
1E
setting
The 4th block timer
1F
setting
20
Acceleration mode
21
Deceleration mode
Sequential run
22
maximum point number
23
Coordinate system setting
Position loop gain
28
(the 1st gain)
Velocity loop gain
29
(the 1st gain)
Velocity loop
integration gain
2A
(the 1st gain)
Velocity feed
forward gain
2b
(the 1st gain)
Speed detection filter
2C
(the 1st gain)
Velocity feed
forward time constant
2d
(Common to the
1st/2nd gain)
Torque limit setting
2E
(the 1st gain)
*1 The value is"180" in case of MBEK083***(750 W)
Torque filter time
constant
2F
(Common to the
1st/2nd gain)
The 2nd position loop
gain
30
(the 2nd gain)
The 2nd velocity loop
gain
31
(the 2nd gain)
Effective
Setting
after
Default
power re-
range
setting
-16384～
0
16383
-288～
0
288
0,1 1
0～3000 2000
1～30000 200
1～30000 200
0,1 0
0～30000 0
0,1 0
0,1 0
1～4 4
0,1 0
○
0～100 5
0～10000 250
0～10000 500
0～100 0
5～20 13
0～500 0
0～200*1 200*1
0～500 0
0～100 5
0～10000 250
Description
Setting unit
[rotation number]
Setting unit [pulse]
You can select positioning system to the 4th point.
0: Relative travel, 1: Absolute travel
You can set the speed moving to the 3rd point.
Setting unit [r/min]
You can set time taken for reaching the 4th setting speed.
Setting unit [ms]
You can set time taken from the 4th setting speed to stop.
Setting unit [ms
0: Normal operation
1: Continuous block operation (4th point → 1st point )
2: Combined block operation (4th point + 1
Enabled when you set Pr1E to "1".
Start commanding of 1st point after this setting time elapses and command of 4th
point is completed. Enabled in unit of 2ms. Setting unit [ms]
You can select running pattern in acceleration.
0: Linear, 1: S-Pattern (Setting common to all points)
You can select running pattern in deceleration.
0: Linear, 1: S-Pattern (Setting common to all points)
You can set the maximum point number for positioning
by use of sequential run signal.
0: CCW rotation in + direction, 1: CW rotation in + direction
CCW: Clockwise rotation as viewed from the motor shaft.
CW: Counterclockwise rotation as viewed from the motor shaft
You can determine the response of position control.
When it is increased,the response is improved, which is likely to cause
oscillation.
(The 1st gain: When gain switching is used, the 1st gain is the gain at stop.)
You can determine the response of velocity loop. When it is increased, the
response is improved, which is likely to cause
oscillation.
You can determine the rigidity of velocity loop. When it is increased, the
rigidity is improved, which is likely to cause oscillation.
This is the function to forward
(add) position command to speed command.
When the setting is increased, the position error is
decreased and response improved, which makes
overshoot large.
Setting unit [%]
Use the default setting normally.
You can set the time constant of low-pass filter of
speed feedback. When the setting is made smaller, the
gain can be made larger and response improved, which
increases operation noise.
Set it at 0 in normal use. This is a filter in velocity feed
forward section. When the setting is made larger, the
time constant is made larger.
Setting unit [ms]
Upper limit of torque reference is set.
(Use as a guide.)
torque reference :A value based on a rated torque of 100. By calculating the load
factor using this, it aims at the minimum motor burnout protection, and the accu-
racy can not be guaranteed.
You can set the time constant of primary delay filter of
torque instruction. You need not change it normally. You
can suppress oscillation due to insufficient rigidity of load.
Setting unit [ms]
You can determine the response of position control.
(The 2nd gain: When using gain switching, the 2nd gain
is the gain in running.)
You can determine the response of velocity loop.
№ SX-DCT00221 -12-
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
st
point )
Panasonic Corporation