Panasonic MINAS A6 Multi Series Technical Reference page 252

No. Title
22 Positional command
smoothing filter
23 Positional command
FIR filter
24 5th notch frequency Hz
25 5th notch width
selection
26 5th notch depth
selection
27 1st damping width
setting
28 2nd damping width
setting
29 3rd damping width
setting
30 4th damping width
setting
For manufacturer's
31
to use
37
(Note 1) The value of the parameter itself will not be limited but the value to be applied will be limited within the driver. Attenuation term
can be set at Pr 6.49 "Adjust/Torque command attenuation term".
Size
Unit Range
[byte]
0.1 ms 0 to 2
10000
0.1 ms 0 to 2
10000
50 to 2
5000
- 0 to 20 2
- 0 to 99 2
- 0 to 1000 2
- 0 to 1000 2
- 0 to 1000 2
- 0 to 1000 2
- - 2
Function/Contents
[For position control,full-closed
control]
 For conventional control (Pr 6.47
bit 0 = 0) will set time constant of
primary delay filter against position
command.
 2 degrees of freedom control (Pr
6.47 bit 0 = 1) will be set to time
constant of command response
filter. Maximum value is limited to
2,000 (=200.0 ms) (Note 1)
[For velocity control]
 For conventional control (Pr 6.47
bit 0 = 0) this setting will be
ignored.
 2 degrees of freedom control (Pr
6.47 bit 0 = 1) will be set to time
constant of command response
filter. Maximum value is limited to
640 (= 64.0 ms) (Note 1)
Set the time constant of the FIR filter
in response to the positional
command.
Set the notch frequency for the 5th
resonance suppression notch filter.
Set the notch frequency to the
resonance frequency of the
machine.
Set the notch width for the 5th
resonance suppression notch filter.
Set the notch width for the 5th
resonance suppression notch filter.
Fine tune the 1st damping control
function.
Fine tune the 2nd damping control
function.
Fine tune the 3rd damping control
function.
Fine tune the 4th damping control
function.
Permanently set at 0.
List of Parameters
Related
Attribute control Reference
mode
B Position, 4.2.3
Velocity,
5.2.16
Full-closed
5.2.17
5.2.18
B Position, 4.2.3
Full-closed
B All 5.2.6
B All 5.2.6
B All 5.2.6
B Position, 5.2.7
Full-closed
B Position, 5.2.7
Full-closed
B Position, 5.2.7
Full-closed
B Position, 5.2.7
Full-closed
- - -
9-8