Panasonic MINAS-A5BL Series Manual page 86

7) Basic gain parameter setup table
Pr 1.00
Stiffness
Position
[0.1/s]
0 20
1 25
2 30
3 40
4 45
5 55
6 75
7 95
8 115
9 140
10 175
11 320
12 390
13 480
14 630
15 720
16 900
17 1080
18 1350
19 1620
20 2060
21 2510
22 3050
23 3770
24 4490
25 5000
26 5600
27 6100
28 6600
29 7200
30 8100
31 9000
*1 Stiffness setting of A4L series refers to the setup value (0–15) of A4 series parameter Pr 22 "Real-time
auto-tuning machine stiffness selection".
*2 In the vertical axis mode or friction compensation mode (Pr0.02=3,4), Pr1.07 is kept at 9999 until load
characteristic estimation is completed.
R1.00
1st gain
Pr 1.01 Pr 1.02 Pr 1.04
Velocity
Velocity loop Torque
[0.1 Hz] integration [0.01 ms]
[0.1 ms]
15 3700
20 2800
25 2200
30 1900
35 1600
45 1200
60 900
75 700
90 600
110 500
140 400
180 310
220 250
270 210
350 160
400 140
500 120
600 110
750 90
900 80
1150 70
1400 60
1700 50
2100 40
2500 40
2800 35
3100 30
3400 30
3700 25
4000 25
4500 20
5000 20
Pr 1.05 Pr 1.06
Position Velocity
[0.1/s] [0.1 Hz]
1500 25 15
1100 30 20
900 40 25
800 45 30
600 55 35
500 70 45
400 95 60
300 120 75
300 140 90
200 175 110
200 220 140
126 380 180
103 460 220
84 570 270
65 730 350
57 840 400
45 1050 500
38 1260 600
30 1570 750
25 1880 900
20 2410 1150
16 2930 1400
13 3560 1700
11 4400 2100
9 5240 2500
8 5900 2800
7 6500 3100
7 7100 3400
6 7700 3700
6 8400 4000
5 9400 4500
5 10500 5000
No. SX-DSV02829 -
2nd gain
Pr 1.07 Pr 1.09
*2
Velocity
loop Torque
integration [0.01 ms]
[0.1 ms]
10000 1500
10000 1100
10000 900
10000 800
10000 600
10000 500
10000 400
10000 300
10000 300
10000 200
10000 200
10000 126
10000 103
10000 84
10000 65
10000 57
10000 45
10000 38
10000 30
10000 25
10000 20
10000 16
10000 13
10000 11
10000 9
10000 8
10000 7
10000 7
10000 6
10000 6
10000 5
10000 5
Motor Business Unit, Panasonic Corporation
80-
A4L
Series
stiffness
setup
(reference)
*1
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15