Panasonic MINAS A6 Multi Series Technical Reference page 264

9.1.7 Class 6: Special setting
No. Title
02 Speed deviation
excess setup
05 Position 3rd gain
valid time
06 Position 3rd gain
scale factor
07 Torque command
additional value
08 Positive direction
torque
compensation value
09 Negative direction
torque
compensation value
10 Function expansion
setup
(Note 1) When an encoder overheat warning occurs, Err15.1 "Encoder overheat error protection" also occurs concurrently.
(Note 2) When bit14 to 1, it will be bit1 and 2 also 1.
(To be continued)
Size
Unit Range
[byte]
r/min 0 to 2
20000
0.1 ms 0 to 2
10000
% 50 to 2
1000
% -100 to 2
100
% -100 to 2
100
% -100 to 2
100
- -32768 to 2
32768
Function/Contents
Set threshold of Err 24.1 Speed over
deviation protection.
This protection is not detected when
the setup value is 0.
Set up 3rd gain valid time of 3 gain
level adjustment.
Set up the 3rd gain by a multiplying
factor of the 1st gain
Set up the offset torque to be added
to the torque command.
Set up the value to be added to the
torque command for positive
direction operation.
Set up the value to be added to the
torque command for negative
direction operation.
Set up the function in unit of bit.
bit0: unused. Always set to 0.
bit1: Load variation suppression
function
0: Invalid
1: Valid
bit2: Load variation stabilization
setting
0: Invalid
1: Valid
bit3: For manufacturer's use.
Always se to 0
bit4: Current response
improvement
0: Invalid
1: Valid
bit5: For manufacturer's use.
Always se to 0.
bit6 to 8: unused. Always set to 0.
For manufacturer's use.
bit9:
Always set to 1.
bit10: Fall prevention function in
case of alarms
0: Invalid
1: Valid
bit11: Encoder overheat error
protection detection
0: Invalid
1: Valid (Note 1)
bit12: unused. Always set to 0
bit13: For manufacturer's use.
Always set to 0.
bit14: Load variation suppression
function automatic setting
0: Invalid
1: Valid (Note 2)
bit15: Slow stop function
0: Invalid
1: Valid
* bit 0 is the least significant bit.
List of Parameters
Related
Attribute control Reference
mode
A Position -
B Position, 5.2.11
Full-closed
B Position, 5.2.11
Full-closed
B Position, 5.2.12
Velocity,
Full-closed
B Position, 5.2.12
Full-closed
B Position, 5.2.12
Full-closed
B All 5.1.1
5.1.3
5.1.4
5.2.10
6.3.6
6.3.7
9-20