№
SX-DCT00221 -
12-
Panasonic Corporation
Parameter
No.
(Pr
□□
)
Name of parameter
Effective
after
power re-
setting
Setting
range
Default
Description
18
The 4th
poin
t
The 4th target posi-
tion
(rotation number)
-16384～
16383
0
Setting unit
[rotation number]
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
19
The 4th target posi-
tion (Pulse)
-288～
288
0
Setting unit [pulse]
1A
The 4th coordinate
setting
0,1
1
You can select positioning system to the 4th point.
0
: Relative travel,
1
: Absolute travel
1b
The 4th setting
speed
0～3000
2000
You can set the speed moving to the 3rd point.
Setting unit [r/min]
1C
The 4th
acceleration time
1～30000
200
You can set time taken for reaching the 4th setting speed.
Setting unit [ms]
1d
The 4th
deceleration time
1～30000
200
You can set time taken from the 4th setting speed to stop.
Setting unit [ms
1E
The 4th block
setting
0,1
0
0
: Normal operation
1
: Continuous block operation (4th point
→
1st point )
2
: Combined block operation (4th point + 1
st
point )
1F
The 4th block timer
setting
0～30000
0
Enabled when you set Pr1E to "1".
Start commanding of 1st point after this setting time elapses and command of 4th
point is completed. Enabled in unit of 2ms. Setting unit [ms]
20
Acceleration mode
0,1
0
You can select running pattern in acceleration.
0
: Linear,
1
: S-Pattern (Setting common to all points)
21
Deceleration mode
0,1
0
You can select running pattern in deceleration.
0
: Linear,
1
: S-Pattern (Setting common to all points)
22
Sequential run
maximum point number
1～4
4
You can set the maximum point number for positioning
by use of sequential run signal.
23
Coordinate system setting
○
0,1
0
0
: CCW rotation in + direction,
1
: CW rotation in + direction
CCW: Clockwise rotation as viewed from the motor shaft.
CW: Counterclockwise rotation as viewed from the motor shaft
28
Position loop gain
(the 1st gain)
0～100
5
You can determine the response of position control.
When it is increased,the response is improved, which is likely to cause
oscillation.
(The 1st gain: When gain switching is used, the 1st
gain is the gain at stop.)
29
Velocity loop gain
(the 1st gain)
0～10000
250
You can determine the response of velocity loop. When it is increased, the
response is improved, which is likely to cause
oscillation.
2A
Velocity loop
integration gain
(the 1st gain)
0～10000
500
You can determine the rigidity of velocity loop. When it is increased, the
rigidity is improved, which is likely to cause oscillation.
2b
Velocity feed
forward gain
(the 1st gain)
0～100
0
This is the function to forward
(add) position command to speed command.
When the setting is increased, the position error is
decreased and response improved, which makes
overshoot large.
Setting unit [%]
2C
Speed detection filter
(the 1st gain)
5～20
13
Use the default setting normally.
You can set the time constant of low-pass filter of
speed feedback. When the setting is made smaller, the
gain can be made larger and response improved, which
increases operation noise.
2d
Velocity feed
forward time constant
(Common to the
1st/2nd gain)
0～500
0
Set it at 0 in normal use. This is a filter in velocity feed
forward section. When the setting is made larger, the
time constant is made larger.
Setting unit [ms]
2E
Torque limit setting
(the 1st gain)
0～200*1 200*1
Upper limit of torque reference is set.
(Use as a guide.)
torque reference :A value based on a rated torque of 100. By calculating the load
factor using this, it aims at the minimum motor burnout protection, and the accu-
racy can not be guaranteed.
*1
The value is”180” in case of MBEK083***(750 W)
2F
Torque filter time
constant
(Common to the
1st/2nd gain)
0～500
0
You can set the time constant of primary delay filter of
torque instruction. You need not change it normally. You
can suppress oscillation due to insufficient rigidity of load.
Setting unit [ms]
30
The 2nd position loop
gain
(the 2nd gain)
0～100
5
You can determine the response of position control.
(The 2nd gain: When using gain switching, the 2nd gain
is the gain in running.)
31
The 2nd velocity loop
gain
(the 2nd gain)
0～10000
250
You can determine the response of velocity loop.
