Panasonic MINAS A6 Series, Technical Reference

Page: 268 / 306

List of Parameters
9-24
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
49 Command / tuning
filter damping — 0 to 99 2 Set the attenuation term for the
command filter and tuning filter in 2
degrees of freedom control.
A decimal number indication is
used. The first digit sets the
command filter and the second digit
sets the tuning filter.
Target digit
0 to 4: No attenuation term, ζ
(operated as primary filter) 5
to 9: Secondary filter
(Attenuation terms will be 1.0,
0.86, 0.71, 0.50, and 0.35 in
order.)
Example) To set the command filter
to ζ=1.0 and tuning filter 1 to ζ=0.71,
the setting value should be 75 (first
digit=5 (ζ=1.0), second digit=7
(ζ=0.71)).
For the time constant of the
command filter, Pr2.22 "Positional
command smoothing filter" will be
applied.
B Position,
Full-closed 5.2.16
5.2.18
50 Viscous friction
compensating gain 0.1%/
(10000r/m
in) 0 to
10000 2 The command velocity is multiplied
by this setting value, which becomes
a correction amount added to the
torque command.
The unit is [rated torque 0.1%/
(10000 r/min)].
B Position,
Velocity,
Full-closed 5.2.16
5.2.17
5.2.18
51 Wait time for
emergency stop ms 0 to
10000 2 Set the time to maintain the motor
energization after the brake release
output (BRK-OFF) is turned OFF in
the event of an alarm requiring
emergency stop.
Enabled even when Pr6.10
"Function expansion setup" is set to
a value other than bit10=1.
B All 6.3.6
52
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
53
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
54
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
57 Torque saturation
error protection
detection time ms 0 to 5000 2 Set the torque saturation error
protection detection time.
If torque saturation continues for the
set time or more, Err16.1 "torque
saturation error protection" occurs.
When 0 is set, the value set for
Pr7.16 is enabled.
B Position,
Velocity,
Full-closed 6.4
58
For manufacturer’s
use
- - 4 Permanently set at 0. - - -
59 For man
ufacturer’s
use
- - 2 Permanently set at 0. - - -
60 2nd damping depth - 0 to 1000 2 Set the damping depth for the 2nd
damping function. B Position,
Full-closed 5.2.7
61
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
62
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
63
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
(To be continued)