Panasonic MINAS A5-series Operating Instructions Manual page 78

13. Setup of Parameter and Mode
List of Parameters
[Class 1] Gain adjustment
Parametr
No.
Class No.
1 00* 1st gain of position loop
1 01* 1st gain of velocity loop
1st time constant of velocity loop
1 02*
integration
1 03 1st filter of speed detection
1 04 1st time constant of torque filter
1 05* 2nd gain of position loop
1 06* 2nd gain of velocity loop
2nd time constant of velocity loop
1 07*
integration
1 08 2nd filter of speed detection
1 09* 2nd time constant of torque filter
1 10* Velocity feed forward gain
1 11* Velocity feed forward filter
1 12* Torque feed forward gain
1 13* Torque feed forward filter
1 14 2nd gain setup
1 15 Mode of position control switching
1 16* Delay time of position control switching
1 17 Level of position control switching
1 18 Hysteresis at position control switching
1 19* Position gain switching time
1 20 Mode of velocity control switching
1 21* Delay time of velocity control switching
1 22 Level of velocity control switching
1 23 Hysteresis at velocity control switching
1 24 Mode of torque control switching
1 25* Delay time of torque control switching
1 26 Level of torque control switching
1 27 Hysteresis at torque control switching
* Definition of symbols under "Attribute" - INI: turning on of power supply is required, RO: read only
* Definition of symbols under "Related mode" - P: position control, S: velocity control, T: torque control, F: full closed control
The symbol " * " attached to a parameter No. indicates that the digits of setting unit will
Caution
change if the parameter is set by using the setup support software PANATERM.
Note
Parameter describes of this page is P.4-12 to P.4-18.
2-42
Title
0 to 30000
1 to 32767
1 to 10000
0 to 2500
0 to 30000
1 to 32767
1 to 10000
0 to 2500
0 to 1000
0 to 6400
0 to 1000
0 to 6400
0 to 10
0 to 10000
0 to 20000
0 to 20000
0 to 10000
0 to 10000
0 to 20000
0 to 20000
0 to 10000
0 to 20000
0 to 20000
Default
Range
A,B C D,E,F
-frame -frame -frame
480 320
270 180 0.1Hz
210 310 0.1ms
0 to 5 0
84 126 0.01ms
570 380
270 180 0.1Hz
10000 0.1ms
0 to 5 0
84 126 0.01ms
300 0.10%
50 0.01ms
0 0.10%
0 0.01ms
0 to 1 1
0
50 0.1ms
50
33
33 0.1ms
0 to 5 0
0 0.1ms
0
0
0 to 3 0
0 0.1ms
0
0
Related
Attribute
Control Mode Detail
Unit
INI RO P S T
0.1/s P S T
P S T
P S T
− P S T
P S T
0.1/s P S T
P S T
P S T
− P S T
P S T
P S T
P S T
P S T
P S T
− P S T
− P S T
P S T
− P S T
− P S T
P S T
−
P S T
P S T
− P S T
− P S T
− P S T
P S T
− P S T
−
P S T
page
F
F
F
F
4-12
F
F
F
F
F
4-13
F
F
F
F
F
F 4-14
F
F
4-15
F
F
4-16
F
F
F
F
4-17
F
F
F
F
4-18
F
F