Panasonic MINAS A6 Multi Series Technical Reference page 268

No. Title
49 Command / tuning
filter damping
50 Viscous friction
compensating gain
51 Wait time for
emergency stop
For manufacturer's
52
use
For manufacturer's
53
use
For manufacturer's
54
use
57 Torque saturation
error protection
detection time
For manufacturer's
58
use
59 For manufacturer's
use
60 2nd damping depth
For manufacturer's
61
use
For manufacturer's
62
use
For manufacturer's
63
use
(To be continued)
Size
Unit Range
[byte]
—
0 to 99 2
0.1%/ 0 to 2
(10000r/m 10000
in)
ms 0 to 2
10000
- - 2
- - 2
- - 2
ms 0 to 5000 2
- - 4
- - 2
- 0 to 1000 2
- - 2
- - 2
- - 2
Function/Contents
Set the attenuation term for the
command filter and tuning filter in 2
degrees of freedom control.
A decimal number indication is
used. The first digit sets the
command filter and the second digit
sets the tuning filter.
Target digit
0 to 4: No attenuation term, ζ
(operated as primary filter) 5
to 9: Secondary filter
(Attenuation terms will be 1.0,
0.86, 0.71, 0.50, and 0.35 in
order.)
Example) To set the command filter
to ζ=1.0 and tuning filter 1 to ζ=0.71,
the setting value should be 75 (first
digit=5 (ζ=1.0), second digit=7
(ζ=0.71)).
For the time constant of the
command filter, Pr2.22 "Positional
command smoothing filter" will be
applied.
The command velocity is multiplied
by this setting value, which becomes
a correction amount added to the
torque command.
The unit is [rated torque 0.1%/
(10000 r/min)].
Set the time to maintain the motor
energization after the brake release
output (BRK-OFF) is turned OFF in
the event of an alarm requiring
emergency stop.
Enabled even when Pr6.10
"Function expansion setup" is set to
a value other than bit10=1.
Permanently set at 0.
Permanently set at 0.
Permanently set at 0.
Set the torque saturation error
protection detection time.
If torque saturation continues for the
set time or more, Err16.1 "torque
saturation error protection" occurs.
When 0 is set, the value set for
Pr7.16 is enabled.
Permanently set at 0.
Permanently set at 0.
Set the damping depth for the 2nd
damping function.
Permanently set at 0.
Permanently set at 0.
Permanently set at 0.
List of Parameters
Related
Attribute control Reference
mode
B Position, 5.2.16
Full-closed
5.2.18
B Position, 5.2.16
Velocity,
5.2.17
Full-closed
5.2.18
B All 6.3.6
- - -
- - -
- - -
B Position, 6.4
Velocity,
Full-closed
- - -
- - -
B Position, 5.2.7
Full-closed
- - -
- - -
- - -
9-24