Panasonic MINAS A5-series Operating Instructions Manual page 222

1. Details of parameter
[Class 6] Special setting
Title
Pr6.21 *
Range
Full-closed control using serial absolute feedback scale. When outputting pulses by using
the feedback scale as the source of the output, set the Z phase output interval in units of A
phase output pulses of the feedback scale (before multiplied by 4).
Setup value
1 to 268435456
Title
Pr6.22 *
Range
Select the pulse regeneration method of A, B and Z parallel feedback scale.
Setup value
0
1
Title
Pr6.23
Range
• Set up -100 to 100% compensating gain against disturbance torque.
• After setting up Pr6.24, increase Pr6.23.
The disturbance suppressing capability increases by increasing the gain, but it is
associated with increasing volume of operation noise.
This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23.
Title
Pr6.24
Range
• Filter setup 10-2500, 0.01 ms. Set up the filter time constant according to the disturbance
torque compensation.
• First, set up Pr6.24 to a larger value and check the operation with Pr6.23 Disturbance
torque compensating gain set to a low value, and then gradually decrease the setup value
of Pr6.24. A low filter setup value assures disturbance torque estimation with small delay
and effectively suppresses effects of disturbance. However, this results in larger operation
noise. Well balanced setup is required.
Title
Pr6.27 *
Range
Set up the latch time.
4-54
Serial absolute external scale Z phase setup
0 to 2
28
0
Output Z phase only at absolute 0 position of feedback scale.
After the power is fed to the driver, the Z phase, as it crosses the zero at
the absolute position of feedback scale, is output in synchronous with the
A phase. Subsequently, the Z phase is output at the A phase output pulse
intervals set to this parameter.
A, B phase external scale pulse output
method selection
0 to 1
Directly output the signals from A, B and Z parallel feedback scales.
Output A and B phase signals recovered from A, B and Z parallel feedback scales.
Z-phase is output directly.
Disturbance torque compensating gain
−100 to 100
Disturbance observer filter
0 to 2500
Alarm latch time selection
0 to 10
control mode
pulse
Unit
Content
control mode
—
Unit
Regenerating method
control mode
%
Unit
control mode
0.01ms
Unit
control mode
—
Unit
Setup value
0
1 to 10
Related
P S T
0
Default
Related
P S T
0
Default
Related
P S T
0
Default
Related
P S T
53
Default
Related
P S T
5
Default
Content
Latch time: infinite
Latch time: 1 to 10 s
F
F
F
F
F