Panasonic MINAS A6 Series, Technical Reference

Page: 267 / 306

9.1List of parameters
9-23
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
47 Function expansion
setup2 — -32768 to
32767 2 Set respective functions in unit of bit. R All 5.2.15
5.2.16
5.2.17
5.2.18
bit0: 2 degrees of freedom control
mode
0:Invalid
1: Valid
bit1: For manufacturer's use
Permanently set at 0
bit2: Encoder communication error /
warning decision setting
0: Standard specification
1: Relaxation specification
bit3: Selection of real-time
auto-tuning type at 2 degrees
of freedom control
0: Standard type
1: Synchronization type
bit4 to 7: Not used
Permanently set at 0.
bit8: For manufacturer's use
Permanently set at 0.
bit9 to 11: Not used
Permanently set at 0.
bit12 to 13: For manufacturer's use
Permanently set at 0.
bit14: Quadrant glitch inhibit
function
0: Invalid
1: Valid
bit15: Not used
Permanently set at 0.

The least significant bit is bit0.

Bit3 can be used only when bit0 is
set to 1
For details on the types, see "5.1.3
Real-time auto tuning
(Two-degree-of-freedom control
mode standard type)" and "5.1.4
Real-time auto tuning
(Two-degree-of-freedom control
mode synchronization type)".
48 Tuning filter 0.1ms 0 to 2000 2 Set the time constant for the tuning
filter in 2 degrees of freedom control. B Position,
Velocity,
Full-closed 5.2.16
5.2.17
5.2.18
(To be continued)