Panasonic MINAS A6 Multi Series Technical Reference page 246

9.1 List of parameters
The attribute of a parameter indicates the point at which the modified parameter setting becomes
effective.
Attribute Description
A Always effective
B Avoid changes during motor operation and command dispatch as much as possible as it may cause transient unstable
operation.
* Reflection timing of parameter change made during the motor operation or command transfer is not defined.
C Effective after reset control power or after pin assign setting from PANATERM for Multi
R Effective after reset control power
X Read only - It cannot be changed using the normal procedure.
S Shared by multiple axes
 The setting value specified for one axis becomes valid for both Axis A and Axis B with this parameter.
The same value appears for both Axis A and Axis B when the parameter is read.
When a parameter is written, the change is reflected in both Axis A and Axis B regardless of whether it is written for Axis
A or Axis B.
 The change is reflected on both Axis A and Axis B when a parameter with the shared by multiple axes attribute is written
even if some of the axes are disabled by Pr0.20 "Axis limit setting"
9.1.1 Class 0: Basic setting
No. Title
For manufacturer's
00
use
01 Control mode setup -
02 Real-time auto-gain
tuning setup
03 Real-time
auto-tuning machine
stiffness setup
04 Inertia ratio
For manufacturer's
08
use
For manufacturer's
09
use
For manufacturer's
10
use
For manufacturer's
11
use
For manufacturer's
12
use
(To be continued)
Size
Unit Range
[byte]
- - 2
0 to 6 2
- 0 to 6 2
- 0 to 31 2
% 0 to 2
10000
- - 4
- - 4
- - 4
- - 4
- - 2
Function/Contents
Permanently set at 1.
Select the control mode of the servo
driver.
0: semi-closed control
(position/velocity/torque control,
selectable)
1 to 5:To be used by the
manufacturer but not by the
user.
6: Full-closed control (Position
control only)
* The first edition of the software
version (Ver1.01) does not support
the setting value 6.
You can set up the action mode of
the real-time auto-gain tuning.
Set the machine stiffness during
real-time auto-gain tuning.
You can set up the ratio of the load
inertia against the rotor (of the
motor) inertia.
Permanently set at 0.
Permanently set at 1.
Permanently set at 1.
Permanently set at 2500.
Permanently set at 0.
List of Parameters
Related
Attribute control Reference
mode
- - -
R All -
B All 5.1.1
5.1.3
5.1.4
B All 5.1.1
5.1.3
5.1.4
B All -
- - -
- - -
- - -
- - -
- - -
9-2