Panasonic MINAS A6 Series, Technical Reference

Page: 265 / 306

9.1List of parameters
9-21
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
11 Current response
setup % 10 to 300 2 Adjust the current response with the
level set at shipment as 100%.
In principle, specify 100 for this
setting and adjust the
position/velocity gain. While the
response can be improved by
setting this value to a value larger
than 100 when it is wished that the
servo response is further improved,
it may also result in a tendency for
vibration and noise generation.
Adjust it to an appropriate value
depending on the operating
conditions of the applied device in a
similar fashion to the adjustment of
position/velocity gain. The maximum
value which can be set varies by the
type of motor connected, and the
maximum value is limited to 100%
for some of the motors.
B all -
14 Emergency stop
time at alarm ms 0 to 1000 2 Set up the time allowed to complete
emergency stop in an alarm
condition. B All 6.3.5
6.3.7
15 2nd over-speed
level setup r/min 0 to
20000 2 Set up the detection level of Err.26.1
2nd over-speed protection.
If the motor speed exceeds this
setup value, Err26.1 “2nd
over-
speed protection” occurs.
When the setting value is 0, the
over-speed level becomes the
over-speed protection level.The
internal value is limited to the
over-speed level of applicable
motor.(Note 1)
B All 6.3.5
18 Power-up wait time 0.1 s 0 to 100 2 Set up the standard initialization
time approx. 1.5 s +
α (setting value
x 0.1s) after power-up.
For example, in the case of the
preset value 10, it is set to
1.5s+(10×0.1 s) = approx. 2.5s.
If the period until LINK
establishment is too long, it may be
possible to improve this
phenomenon by setting different
values in the Pr6.18 for adjacent
driver modules (such as 0.0 s and
0.1 s).
If error F8301/F8302 is detected
from the safety part after turning on
the power, the phenomenon may be
improved by reducing the value of
Pr6.18.
R
S
All 3.3
19
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
20
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
21
For manufacturer’s
use
- - 4 Permanently set at 0. - - -
22
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
23 Load change
compensation gain % -100 to
100 2 Set the compensation gain for a load
change. B Position,
Velocity,
Full-closed 5.2.10
24 Load change
compensation filter 0.01 ms 10 to
2500 2 Set the compensation gain for a load
change. B Position,
Velocity,
Full-closed 5.2.10
(Note 1) Except some motors
(To be continued)