Panasonic MINAS A5-series Operating Instructions Manual page 219

4
Setup
Title
Pr6.00
Range
• Set the input gain of analog torque feed forward.
0 to 9 are invalid.
<Usage example of Analog torque feed forward>
• Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque feed
forward. When the analog input 3 is used by another function (e.g. analog torque limit), the
function becomes invalid.
• The voltage (V) applied to the analog input 3 is converted to the torque via Pr6.00 Analog
torque feed forward conversion gain setup and added to the torque command (%).
• The conversion of analog input 3, input voltage [V], to the torque command [%] to the
motor may be expressed mathematically as follows:
Torque command (%) = 100 × input voltage (V) / (Pr6.00 setup value × 0.1)
Title
Pr6.02
Range
When the speed deviation (difference between internal positional command and actual
speed) exceeds this value, Err24.1 Speed over deviation protection occurs.
This protection is not detected when the setup value is 0.
Title
Pr6.04
Range
Set up the command speed used for JOG trial run (velocity control).
Related page
Before using, refer to P.4-58 Preparation Trial Run.
Title
Pr6.05
Range
• Set up the time at which 3rd gain becomes valid.
• When not using this parameter, set Pr6.05 to 0 and Pr6.06 to 100.
• This is valid for only position control/full-closed control.
Title
Pr6.06
Range
• Set up the 3rd gain by a multiplying factor of the 1st gain:
• 3rd gain = 1st gain × Pr6.06/100
Title
Pr6.07
Range
• Set up the offset load compensation value usually added to the torque command in a
control mode except for the torque control mode.
• Update this parameter when the vertical axis mode for real time auto-tuning is valid.
1. Details of parameter
[Class 6] Special setting
Analog torque feed forward conversion gain
0 to 100
Velocity deviation excess setup
0 to 100
JOG trial run command speed
0 to 500
Position 3rd gain valid time
0 to 10000
Position 3rd gain scale factor
50 to 1000
Torque command additional value
−100 to 100
Related
control mode
0.1V/100%
Unit Default
Related
control mode
r/min
Unit Default
Related
control mode
r/min
Unit Default
Related
control mode
0.1ms
Unit Default
Related
control mode
%
Unit Default
Related
control mode
%
Unit Default
1
P S T F
0
2
3
P S T F
0
4
P S T F
300
5
P S T F
0
6
P S T F
100
7
P S T F
0
4-51