Panasonic MINAS A4-series Technical Reference Download Page 16

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– B31 –

– B30 –

4. Parameter

Parameters for Functional Selection

<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• For parameters which default values are parenthesized by "< >", default value varies

automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.

* In this documentation, each mode is represented by the following symbols

P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.

Set up of parameter

Range

Unit

Related control

mode

Parameter

No.

(Pr )

Default

0 to 15

0 to 17

0 to 6

0 to 3

0 to 2

0 to 3

0 to 2

0 to 9

0 to 12

0 to 8

0 to 2

0 to 5

0 to 1

–

all

P, S, F

all

S, T

all

–

Address of axis

Initial display of LED

Setup of control mode

Selection of torque limit

Setup of over-travel inhibit input

Switching of Internal/External speed setup

Selection of ZEROSPD input

Selection of speed monitor (SP)

Selection of torque monitor (IM)

Selection of TLO output

Selection of ZSP output

Setup of absolute encoder

Baud rate setup of RS232

Baud rate setup of RS485

Setup of front panel lock

(For manufacturer's use)

Parameters for Adjustment of Time Constant for Gains and Filters

Set up of parameter

Range

Unit

Related control

mode

Parameter

No.

(Pr )

Default

0 to 3000

1 to 3500

1 to 1000

0 to 5

0 to 2500

–

2000 to 2000

0 to 6400

–

<63> <32>

<35> <18>

<16> <31>

<0>

<65> <126>

<300>

<50>

–

1/s

–

0.01ms

0.1%

0.01ms

–

P, F

all

P, F

–

1st gain of position loop

1st gain of velocity loop

1st time constant of velocity loop integration

1st filter of velocity detection

1st time constant of torque filter

Velocity feed forward

Time constant of feed forward filter

(For manufacturer's use)

A to

C-frame

D to

F-frame

Composition and List of Parameters

Group

Outline

Parameter No.

(Pr )

Functional selection

Adjustment

Position (Step)
Control

Velocity Control,
Torque Control

Sequence

Full-Closed Control

00 to 0F

10 to 1F,
27 to 2E

20 to 26, 2F

30 to 3F

40 to 4F

50 to 5A,

74 to 77

5B to 5F

60 to 6F

70 to 73
78 to 7F

You can select a control mode, designate I/O
signals and set up a baud rate.
You can set up servo gains (1st and 2nd) of
position, velocity, integration, etc, and time
constants of various filters.
Parameters related to Real Time Auto-Gain Tuning. You
can set up a mode and select a mechanical stiffness.
You can set up parameters related to gain
switching(1st 2nd)
You can set up an input form, directional selection
of command pulses, dividing of encoder output
pulse and set up a division multiplier ratio of
command pulse.
You can set up an input gain of command pulse,
reverse polarity and adjust offset. You can also set
up internal speeds (1 to 8th speed), acceleration/
deceleration time.
You can set an input gain, reverse polarity and set
up a torque limit of torque command.
You can set up detecting conditions of output signals,
such as positioning-complete and zero-speed.
You can also set up a deceleration/stop action at
main power-off, at alarm output and at servo-off,
and clear condition of the deviation counter.
You can set up actions of protective functions.
You can set up dividing of external scale.