Panasonic MINAS A6 Multi Series Technical Reference page 248

9.1.2 Class 1: Gain adjustment
No. Title
00 1st gain of position
loop
01 1st velocity loop
gain
02 1st velocity loop
integration time
constant
03 1st filter of velocity
detection
04 1st torque filter time
constant
05 2nd gain of position
loop
06 2nd velocity loop
gain
07 2nd velocity loop
integration time
constant
08 2nd filter of velocity
detection
09 2nd torque filter time
constant
10 Velocity feed
forward gain
11 Velocity feed
forward filter
12 Torque feed forward
gain
13 Torque feed forward
filter
14 2nd gain setup
15 Mode of position
control switching
16 Delay time of
position control
switching
17 Level of position
control switching
18 Hysteresis at
position control
switching
19 Position gain
switching time
20 Mode of velocity
control switching
(To be continued)
Size
Unit Range
[byte]
0.1/s 0 to 2
30000
0.1 Hz 1 to 2
32767
0.1 ms 1 to 2
10000
- 0 to 5 2
0.01 ms 0 to 2500 2
0.1/s 0 to 2
30000
0.1 Hz 1 to 2
32767
0.1 ms 1 to 2
10000
- 0 to 5 2
0.01 ms 0 to 2500 2
0.1% 0 to 4000 2
0.01 ms 0 to 6400 2
0.1% 0 to 2000 2
0.01 ms 0 to 6400 2
- 0 to 1 2
- 0 to 10 2
0.1 ms 0 to 2
10000
- 0 to 2
20000
- 0 to 2
20000
0.1 ms 0 to 2
10000
- 0 to 5 2
Function/Contents
Set the 1st gain of position loop.
Set the 1st gain of velocity loop.
Set the 1st velocity loop integration
time constant.
Keep integration if setting value is
9999.
Becomes invalid if setting value is
10000.
Set the 1st velocity detection filter to
one of 6 levels.
Set the time constant of the 1st
torque filter.
Set the 2nd position loop gain.
Set the 2nd velocity proportional
gain.
Set the 2nd velocity integration time
constant.
Keep integration if setting value is
9999.
Becomes invalid if setting value is
10000.
Set the 2nd velocity detection filter
to one of 6 levels.
Set the time constant of the 2nd
torque filter.
Set the velocity feed forward gain.
Set the time constant of velocity
feed forward filter.
*It becomes invalid in
two-degree-of-freedom control
mode.
Set the torque feed forward gain.
Set the torque feed forward filter.
Using the gain switching function,
set this parameter for the best
tuning.
Set the condition of gain switching
for position control.
Set the delay time when switching
from 2nd to 1st gain.
Set the gain switching level.
Set the hysteresis at gain switching. B
Set the position gain switching time
upon gain switching.
Set the condition of gain switching
for velocity control
List of Parameters
Related
Attribute control Reference
mode
B Position, 5.2
Full-closed
B All 5.2
B All 5.2
B All 5.2
B All 5.2
B Position, 5.2
Full-closed
B All 5.2
B All 5.2
B All 5.2
B All 5.2
B Position, 5.2.9
Full-closed
B Position, 5.2.9
Full-closed
B All 5.2.9
B All 5.2.9
B All 5.2.5
B Position, 5.2.5
Full-closed
B Position, 5.2.5
Full-closed
B Position, 5.2.5
Full-closed
Position, 5.2.5
Full-closed
B Position, 5.2.5
Full-closed
B Velocity 5.2.5
9-4