Panasonic MINAS A6 Series, Technical Reference

Page: 248 / 306

List of Parameters
9-4
9.1.2 Class 1: Gain adjustment
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
00 1st gain of position
loop 0.1/s 0 to
30000 2 Set the 1st gain of position loop. B Position,
Full-closed 5.2
01 1st velocity loop
gain 0.1 Hz 1 to
32767 2 Set the 1st gain of velocity loop. B All 5.2
02 1st velocity loop
integration time
constant 0.1 ms 1 to
10000 2 Set the 1st velocity loop integration
time constant.
Keep integration if setting value is
9999.
Becomes invalid if setting value is
10000.
B All 5.2
03 1st filter of velocity
detection - 0 to 5 2 Set the 1st velocity detection filter to
one of 6 levels. B All 5.2
04 1st torque filter time
constant 0.01 ms 0 to 2500 2 Set the time constant of the 1st
torque filter. B All 5.2
05 2nd gain of position
loop 0.1/s 0 to
30000 2 Set the 2nd position loop gain. B Position,
Full-closed 5.2
06 2nd velocity loop
gain 0.1 Hz 1 to
32767 2 Set the 2nd velocity proportional
gain. B All 5.2
07 2nd velocity loop
integration time
constant 0.1 ms 1 to
10000 2 Set the 2nd velocity integration time
constant.
Keep integration if setting value is
9999.
Becomes invalid if setting value is
10000. B All 5.2
08 2nd filter of velocity
detection - 0 to 5 2 Set the 2nd velocity detection filter
to one of 6 levels. B All 5.2
09 2nd torque filter time
constant 0.01 ms 0 to 2500 2 Set the time constant of the 2nd
torque filter. B All 5.2
10 Velocity feed
forward gain 0.1% 0 to 4000 2 Set the velocity feed forward gain. B Position,
Full-closed 5.2.9
11 Velocity feed
forward filter 0.01 ms 0 to 6400 2 Set the time constant of velocity
feed forward filter.
*It becomes invalid in
two-degree-of-freedom control
mode.
B Position,
Full-closed 5.2.9
12 Torque feed forward
gain 0.1% 0 to 2000 2 Set the torque feed forward gain. B All 5.2.9
13 Torque feed forward
filter 0.01 ms 0 to 6400 2 Set the torque feed forward filter. B All 5.2.9
14 2nd gain setup - 0 to 1 2 Using the gain switching function,
set this parameter for the best
tuning. B All 5.2.5
15 Mode of position
control switching - 0 to 10 2 Set the condition of gain switching
for position control. B Position,
Full-closed 5.2.5
16 Delay time of
position control
switching 0.1 ms 0 to
10000 2 Set the delay time when switching
from 2nd to 1st gain. B Position,
Full-closed 5.2.5
17 Level of position
control switching - 0 to
20000 2 Set the gain switching level. B Position,
Full-closed 5.2.5
18 Hysteresis at
position control
switching - 0 to
20000 2 Set the hysteresis at gain switching. B Position,
Full-closed 5.2.5
19 Position gain
switching time 0.1 ms 0 to
10000 2 Set the position gain switching time
upon gain switching. B Position,
Full-closed 5.2.5
20 Mode of velocity
control switching - 0 to 5 2 Set the condition of gain switching
for velocity control B Velocity 5.2.5
(To be continued)