Panasonic MINAS A6 Series, Technical Reference

Page: 252 / 306

List of Parameters
9-8
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
22 Positional command
smoothing filter 0.1 ms 0 to
10000 2 [For position control,full-closed
control]

For conventional control (Pr 6.47
bit 0 = 0) will set time constant of
primary delay filter against position
command.

2 degrees of freedom control (Pr
6.47 bit 0 = 1) will be set to time
constant of command response
filter. Maximum value is limited to
2,000 (=200.0 ms) (Note 1)
[For velocity control]

For conventional control (Pr 6.47
bit 0 = 0) this setting will be
ignored.

2 degrees of freedom control (Pr
6.47 bit 0 = 1) will be set to time
constant of command response
filter. Maximum value is limited to
640 (= 64.0 ms) (Note 1)
B Position,
Velocity,
Full-closed 4.2.3
5.2.16
5.2.17
5.2.18
23 Positional command
FIR filter 0.1 ms 0 to
10000 2 Set the time constant of the FIR filter
in response to the positional
command. B Position,
Full-closed 4.2.3
24 5th notch frequency Hz 50 to
5000 2 Set the notch frequency for the 5th
resonance suppression notch filter.
Set the notch frequency to the
resonance frequency of the
machine.
B All 5.2.6
25 5th notch width
selection - 0 to 20 2 Set the notch width for the 5th
resonance suppression notch filter. B All 5.2.6
26 5th notch depth
selection - 0 to 99 2 Set the notch width for the 5th
resonance suppression notch filter. B All 5.2.6
27 1st damping width
setting - 0 to 1000 2 Fine tune the 1st damping control
function. B Position,
Full-closed 5.2.7
28 2nd damping width
setting - 0 to 1000 2 Fine tune the 2nd damping control
function. B Position,
Full-closed 5.2.7
29 3rd damping width
setting - 0 to 1000 2 Fine tune the 3rd damping control
function. B Position,
Full-closed 5.2.7
30 4th damping width
setting - 0 to 1000 2 Fine tune the 4th damping control
function. B Position,
Full-closed 5.2.7
31
to
37
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
(Note 1) The value of the parameter itself will not be limited but the value to be applied will be limited within the driver. Attenuation term
can be set at Pr 6.49 "Adjust/Torque command attenuation term".