Panasonic MINAS A6N Series, Руководство по эксплуатации

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3-18 Rev.2.00
Parametr No.
Title Range
Default
Unit Attribute
Related control mode
Detail
page
Class No.
A,B
type
C
type
D,E,F
type
P S T
1 04 1st time constant of torque filter 0 to 2500 84 126 0.01 ms B
○ ○ ○
3-47
1 05 2nd gain of position loop 0 to 30000 480 320 0.1 /s* B
○
3-48
1 06 2nd gain of velocity loop 1 to 32767 270 180 0.1 Hz* B
○ ○ ○
1 07
2nd time constant of velocity loop
integration
1 to 10000 210 310 0.1 ms* B
○ ○ ○
1 08 2nd filter of velocity detection 0 to 5 0 − B
○ ○ ○
1 09 2nd time constant of torque filter 0 to 2500 84 126 0.01 ms* B
○ ○ ○
1 10 Velocity feed forward gain 0 to 4000 1000 0.10 %* B
○
1 11 Velocity feed forward filter 0 to 6400 0 0.01 ms* B
○
1 12 Torque feed forward gain 0 to 2000 1000 0.10 %* B
○ ○
1 13 Torque feed forward filter 0 to 6400 0 0.01 ms* B
○ ○
1 14 2nd gain setup 0 to 1 1 − B
○ ○ ○
3-49
1 15 Mode of position control switching 0 to 10 0 − B
○
1 16 Delay time of position control switching 0 to 10000 10 0.1 ms* B
○
3-50 1 17 Level of position control switching 0 to 20000 0 − B
○
1 18 Hysteresis at position control switching 0 to 20000 0 − B
○
1 19 Position gain switching time 0 to 10000 10 0.1 ms* B
○
3-51
1 20 Mode of velocity control switching 0 to 5 0 − B
○
1 21 Delay time of velocity control switching 0 to 10000 0 0.1 ms* B
○
3-52
1 22 Level of velocity control switching 0 to 20000 0 − B
○
1 23 Hysteresis at velocity control switching 0 to 20000 0 − B
○
1 24 Mode of torque control switching 0 to 3 0 − B
○
1 25 Delay time of torque control switching 0 to 10000 0 0.1 ms* B
○
3-53 1 26 Level of torque control switching 0 to 20000 0 − B
○
1 27 Hysteresis at torque control switching 0 to 20000 0 − B
○
※
“ Related control mode ”is thant P
：
Position control
、
S
：
Velocity control
、
T
：
Torque control.
※
For “ Attribute ”,refer to P.3-38 “ Details of Attribute ”.
3.Setup and List of Parameters
List of Parameters
Caution
Parameter with for “ Unit ”,set to parameter by setup support software “ PANATERM ”,please
pay attention to the setting of the number of units have changed.