Panasonic MINAS A6 Series, Operating Instructions Manual

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2-52
[Class 0] Basic setting
Parametr
No.
Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class No.
A,B
-frame
C
-frame
D,E,F
-frame
P S T F
0 00 Rotational direction setup 0 to 1 1 −
○ ○ ○ ○ ○
4-6
0 01 Control mode setup 0 to 6 0 −
○ ○ ○ ○ ○
0 02 Real-time auto-gain tuning setup 0 to 6 1 −
○ ○ ○ ○
4-7
0 03
Selection of machine stiffness at real-time
auto-gain tuning
0 to 31 13 11 −
○ ○ ○ ○
4-8
0 04 Inertia ratio 0 to 10000 250 %
○ ○ ○ ○
4-9
0 05 Selection of command pulse input 0 to 2 0 −
○ ○ ○
0 06 Command pulse rotational direction setup 0 to 1 0 −
○ ○ ○
4-10
0 07 Command pulse input mode setup 0 to 3 1 −
○ ○ ○
0 08
Command pulse counts per one motor
revolution
0 to 2 23 10000 pulse
○ ○
4-11
0 09 1st numerator of electronic gear 0 to 2
30
0 −
○ ○
0 10 Denominator of electronic gear 0 to 2
30
10000 −
○ ○
0 11
Output pulse counts per one motor
revolution
1 to 2097152 2500 P/r ○ ○ ○ ○ ○
4-12
0 12 Reversal of pulse output logic 0 to 3 0 −
○ ○ ○ ○ ○
4-14
0 13 1st torque limit 0 to 500 500 * 1 %
○ ○ ○ ○
0 14 Position deviation excess setup 0 to 2
30
100000
Command
unit
○ ○
0 15 Absolute encoder setup 0 to 4 1 −
○ ○ ○ ○ ○
0 16 External regenerative resistor setup 0 to 3 3 0 −
○ ○ ○ ○ ○
4-15
0 17
Load factor of external regenerative
resistor selection
0 to 4 0 − ○ ○ ○ ○ ○
0 18 For manufactuer's use − 0 −
[Class 1] Gain adjustment
Parametr
No.
Title Range
Default
Unit
Turning
on of
power
supply
Related
Control Mode Detail
page
Class No.
A,B
-frame
C
-frame
D,E,F
-frame
P S T F
1 00 1st gain of position loop 0 to 30000 480 320 0.1 /s * ○ ○
4-16
1 01 1st gain of velocity loop 1 to 32767 270 180 0.1 Hz * ○ ○ ○ ○
1 02
1st time constant of velocity loop
integration
1 to 10000 210 310 0.1 ms *
○ ○ ○ ○
2
Preparation
12. Setup of Parameter and Mode
List of Parameters
Caution
Note
The symbol “ * ” attached to “Unit”. indicates that the digits of setting unit will change if the
parameter is set by using the setup support software PANATERM.
Parameter describes of this page is P.4-6 to P.4-16.
• Partial parameter of standard type and communication type are different from a table in a shipment parameter.
• Definition of symbols under “Power Off/On” - : if a change is made, it will be reflected upon the parameter when the
power to the driver is turned off and then on again.
• Definition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control, F: full closed control
* 1 Default settings depend on the combination of driver and motor. Refer to P. 2-68 “Torque limit setting”.
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