Panasonic MINAS A5 Series, Руководство по эксплуатации

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4-2
4
1. Details of parameter
Setup
List of Parameters
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Pr0.00
Parameter No. Class
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7WRUTXHFRQWURO)IXOOFORVHGFRQWURO
[Class 0] Basic setting
00 Rotational direction setup
○ ○ ○ ○
4-4
01 Control mode setup
○ ○ ○ ○
02 Real-time
auto-gain
tuning
setup
Selection of machine
stiffness
○ ○ ○ ○
4-5
03
○ ○ ○ ○
04 Inertia ratio
○ ○ ○ ○
4-6
05
Command
pulse
input selection
otational direction setup
input mode setup
○ ̶ ̶ ○
06
○ ̶ ̶ ○
4-7
07
○ ̶ ̶ ○
08
Command pulse counts
SHURQHPRWRUUHYROXWLRQ
○ ̶ ̶ ̶
4-8
09 1st numerator of electronic gear
○ ̶ ̶ ○
10 Denominator of electronic gear
○ ̶ ̶ ○
11
Output pulse counts per one motor
UHYROXWLRQ
○ ○ ○ ○
4-9
12 5HYHUVDORISXOVHRXWSXWORJLF
○ ○ ○ ○
4-11
13 1st torque limit
○ ○ ○ ○
14 3RVLWLRQGHYLDWLRQH[FHVVVHWXS
○ ̶ ̶ ○
15 $EVROXWHHQFRGHUVHWXS
○ ̶ ̶ ○
16 ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS
○ ○ ○ ○
4-12
17
/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH
resistor selection
○ ○ ○ ○
[Class 1] Gain adjustment
00
1st
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
integration
ÀOWHURIVSHHGGHWHFWLRQ
WLPHFRQVWDQWRIWRUTXHÀOWHU
2nd
gain of position loop
JDLQRIYHORFLW\ORRS
WLPHFRQVWDQWRIYHORFLW\ORRS
integration
ÀOWHURIVSHHGGHWHFWLRQ
WLPHFRQVWDQWRIWRUTXHÀOWHU
○ ̶ ̶ ○
4-13
01
○ ○ ○ ○
02
○ ○ ○ ○
03
○ ○ ○ ○
04
○ ○ ○ ○
05
○ ̶ ̶ ○
4-14
06
○ ○ ○ ○
07
○ ○ ○ ○
08
○ ○ ○ ○
09
○ ○ ○ ○
10
9HORFLW\IHHGIRUZDUG
gain
ÀOWHU
○ ̶ ̶ ○
11
○ ̶ ̶ ○
12
7RUTXHIHHGIRUZDUG
gain
ÀOWHU
○ ○ ̶ ○
4-15
13
○ ○ ̶ ○
14 2nd gain setup
○ ○ ○ ○
15
Position
control
VZLWFKLQJ
mode
delay time
OHYHO
hysteresis
○ ̶ ̶ ○
4-16
16
○ ̶ ̶ ○
17
○ ̶ ̶ ○
4-17 18
○ ̶ ̶ ○
19 3RVLWLRQJDLQVZLWFKLQJWLPH
○ ̶ ̶ ○
20
Velocity
control
VZLWFKLQJ
mode
delay time
OHYHO
hysteresis
Torque
control
VZLWFKLQJ
mode
delay time
OHYHO
hysteresis
̶ ○ ̶ ̶
4-18
21
̶ ○ ̶ ̶
22
̶ ○ ̶ ̶
23
̶ ○ ̶ ̶
24
̶ ̶ ○ ̶
4-19
25
̶ ̶ ○ ̶
26
̶ ̶ ○ ̶
27
̶ ̶ ○ ̶
[Class 2] Damping control
00
$GDSWLYHÀOWHUPRGHVHWXS
○ ○ ̶ ○
4-20
01
1st notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○ ○ ○ ○
02
○ ○ ○ ○
03
○ ○ ○ ○
04
2nd notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○ ○ ○ ○
05
○ ○ ○ ○
06
○ ○ ○ ○
4-21
07
3rd notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○ ○ ○ ○
08
○ ○ ○ ○
09
○ ○ ○ ○
10
4th notch
frequency
ZLGWKVHOHFWLRQ
depth selection
○ ○ ○ ○
11
○ ○ ○ ○
12
○ ○ ○ ○
13
6HOHFWLRQRIGDPSLQJÀOWHUVZLWFKLQJ
○ ̶ ̶ ○
4-22
14 1st
damping
frequency
ÀOWHUVHWXS
○ ̶ ̶ ○
15
○ ̶ ̶ ○
4-23
16 2nd
damping
frequency
ÀOWHUVHWXS
○ ̶ ̶ ○
4-22
17
○ ̶ ̶ ○
4-23
18 3rd
damping
frequency
ÀOWHUVHWXS
○ ̶ ̶ ○
4-22
19
○ ̶ ̶ ○
4-23
20 4th
damping
frequency
ÀOWHUVHWXS
○ ̶ ̶ ○
4-22
21
○ ̶ ̶ ○
4-23
22 Positional
command
VPRRWKLQJÀOWHU
),5ÀOWHU
○ ̶ ̶ ○
23
○ ̶ ̶ ○
4-24
[Class 3] V
erocity/ T
orque/ Full-closed control
00
6SHHGVHWXS,QWHUQDO([WHUQDO
VZLWFKLQJ
̶ ○ ̶ ̶
4-25
01
Speed
command
rotational direction
selection
input gain
UHYHUVDOLQSXW
̶ ○ ̶ ̶
02
̶ ○ ○ ̶
4-26
03
̶ ○ ̶ ̶
04
Speed
setup
1st
2nd
3rd
4th
5th
6th
7th
8th
̶ ○ ̶ ̶
4-27
05
̶ ○ ̶ ̶
06
̶ ○ ̶ ̶
07
̶ ○ ̶ ̶
08
̶ ○ ̶ ̶
09
̶ ○ ̶ ̶
10
̶ ○ ̶ ̶
11
̶ ○ ̶ ̶
12
Time setup
acceleration
deceleration
̶ ○ ̶ ̶
13
̶ ○ ̶ ̶
14
Sigmoid acceleration/ deceleration
time setup
̶ ○ ̶ ̶
4-28
15 Speed
zero-clamp
function selection
OHYHO
̶ ○ ○ ̶
16
̶ ○ ○ ̶
17
Torque
command
selection
direction selection
input gain
LQSXWUHYHUVDO
̶ ̶ ○ ̶
4-29
18
̶ ̶ ○ ̶
19
̶ ̶ ○ ̶
20
̶ ̶ ○ ̶
21 Speed limit
YDOXH
1
2
̶ ̶ ○ ̶
4-30 22
̶ ̶ ○ ̶
23
([WHUQDO
scale
selection
QXPHUDWRURIGLYLVLRQ
GHQRPLQDWRURIGLYLVLRQ
UHYHUVDORIGLUHFWLRQ
Z phase disconnection
detection disable
̶ ̶ ̶ ○
24
̶ ̶ ̶ ○
4-31
25
̶ ̶ ̶ ○
26
̶ ̶ ̶ ○
27
̶ ̶ ̶ ○
28 Hybrid
GHYLDWLRQ
H[FHVVVHWXS
clear setup
̶ ̶ ̶ ○
4-32
29
̶ ̶ ̶ ○
Parametr No.
Title
Related Control Mode Detail
page
Class No.
P S T F
Parametr No.
Title
Related Control Mode Detail
page
Class No.
P S T F
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