Panasonic MINAS A6 Series, Technical Reference

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List of Parameters
9-2
9.1 List of parameters
The attribute of a parameter indicates the point at which the modified parameter setting becomes
effective.
Attribute Description
A Always effective
B Avoid changes during motor operation and command dispatch as much as possible as it may cause transient unstable
operation.
* Reflection timing of parameter change made during the motor operation or command transfer is not defined.
C Effective after reset control power or after pin assign setting from PANATERM for Multi
R Effective after reset control power
X Read only - It cannot be changed using the normal procedure.
S Shared by multiple axes

The setting value specified for one axis becomes valid for both Axis A and Axis B with this parameter.
The same value appears for both Axis A and Axis B when the parameter is read.
When a parameter is written, the change is reflected in both Axis A and Axis B regardless of whether it is written for Axis
A or Axis B.

The change is reflected on both Axis A and Axis B when a parameter with the shared by multiple axes attribute is written
even if some of the axes are disabled by Pr0.20 "Axis limit setting"
9.1.1 Class 0: Basic setting
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
00
For manufacturer’s
use
- - 2 Permanently set at 1. - - -
01 Control mode setup - 0 to 6 2 Select the control mode of the servo
driver.
0: semi-closed control
(position/velocity/torque control,
selectable)
1 to 5:To be used by the
manufacturer but not by the
user.
6: Full-closed control (Position
control only)
* The first edition of the software
version (Ver1.01) does not support
the setting value 6.
R All -
02 Real-time auto-gain
tuning setup - 0 to 6 2 You can set up the action mode of
the real-time auto-gain tuning. B All 5.1.1
5.1.3
5.1.4
03 Real-time
auto-tuning machine
stiffness setup - 0 to 31 2 Set the machine stiffness during
real-time auto-gain tuning. B All 5.1.1
5.1.3
5.1.4
04 Inertia ratio % 0 to
10000 2 You can set up the ratio of the load
inertia against the rotor (of the
motor) inertia. B All -
08
For manufacturer’s
use
- - 4 Permanently set at 0. - - -
09
For manufacturer’s
use
- - 4 Permanently set at 1. - - -
10
For manufacturer’s
use
- - 4 Permanently set at 1. - - -
11
For manufacturer’s
use
- - 4 Permanently set at 2500. - - -
12
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
(To be continued)