Panasonic MINAS A6 Multi Series Technical Reference page 102

Basic gain parameter setup table
1st gain / 2nd gain
Stiffness
Pr 1.00 Pr 1.01
Pr 1.05 Pr 1.06
Position Speed
[0.1/s] [0.1 Hz]
0 20 15
1 25 20
2 30 25
3 40 30
4 45 35
5 55 45
6 75 60
7 95 75
8 115 90
9 140 110
10 175 140
11 320 180
12 390 220
13 480 270
14 630 350
15 720 400
16 900 500
17 1080 600
18 1350 750
19 1620 900
20 2060 1150
21 2510 1400
22 3050 1700
23 3770 2100
24 4490 2500
25 5000 2800
26 5600 3100
27 6100 3400
28 6600 3700
29 7200 4000
30 8100 4500
31 9000 5000
(Note 1) There is that Pr6.48 "Adjust filter" adds 1 to by a combination of driver and motor.
Command response
Pr 1.02 Pr 1.04
Pr 2.22
Pr 1.07 Pr 1.09
Velocity Time constant [0.1 ms]
Torque
integral
Standard response
[0.01 ms]
[0.1 ms]
mode
3700 1500 1919
2800 1100 1487
2200 900 1214
1900 800 960
1600 600 838
1200 500 668
900 400 496
700 300 394
600 300 327
500 200 268
400 200 212
310 126 139
250 103 113
210 84 92
160 65 71
140 57 62
120 45 50
110 38 41
90 30 33
80 25 28
70 20 22
60 16 18
50 13 15
40 11 12
40 9 10
35 8 9
30 7 8
30 7 7
25 6 7
25 6 6
20 5 6
20 5 5
Auto Tuning Functions
Tuning filter
Pr 6.48 (Note 1)
Time constant
High response
[0.1 ms]
mode 1 to 3
764 155
595 115
486 94
384 84
335 64
267 54
198 44
158 34
131 34
107 24
85 23
55 16
45 13
37 11
28 9
25 8
20 7
17 6
13 5
11 5
9 4
7 4
6 3
5 3
4 3
4 2
3 2
3 2
3 2
2 2
2 2
2 2
For load
fluctuation
suppression
function
Pr 6.24
Load fluctuation
compensation filter
[0.01/ms]
2500
2500
2500
2500
2500
2500
2500
2120
1770
1450
1140
880
720
590
450
400
320
270
210
180
140
110
90
80
60
60
50
50
40
40
40
40
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