Setting the parameters, Parameters for selecting function, Parameters for auto gain tuning – Panasonic MINAS E-series User Manual
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42
Setting the Parameters
Parameter No.
Parameter description
Range
Default
Unit
Related control mode
(Pr )
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
Velocity feed forward
Feed forward filter time constant
(For manufacturer use)
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
1st notch frequency
1st notch width selection
(For manufacturer use)
Software limit function
(For manufacturer use)
Damping frequency
Damping filter setting
0 - 32767
1 - 3500
1 - 1000
0 - 5
0 - 2500
–2000 - 2000
0 - 6400
—
0 - 32767
1 - 3500
1 - 1000
0 - 5
0 - 2500
100 - 1500
0 - 4
—
0 - 1000
—
0 - 5000
–200 - 2500
<63>
<35>
<16>
<0>
<65>
<300>
<50>
0
<73>
<35>
<1000>
<0>
<65>
1500
2
0
10
0
0
0
1/s
Hz
ms
—
0.01ms
0.1%
0.01ms
—
1/s
Hz
ms
—
0.01ms
Hz
—
—
0.1 rev
—
0.1Hz
0.1Hz
P • P2
P • P2 • S
P • P2 • S
P • P2 • S
P • P2 • S
P • P2
P • P2
—
P • P2
P • P2 • S
P • P2 • S
P • P2 • S
P • P2 • S
P • P2 • S *1
P • P2 • S
—
P • P2
—
P • P2 *1
P • P2
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
26
27 - 2A
2B
2C
Parameters for adjusting the time constants of gain filter
Parameter No.
Parameter description
Range
Default
Unit
Related control mode
(Pr )
Axis address
7-segment LED for console, initial condition display
Control mode set up
(For manufacturer use)
Overtravel Input inhibit
(For manufacturer use)
ZEROSPD/TC input selection
(For manufacturer use)
Warning output selection
(For manufacturer use)
Baud rate set-up of RS232C
(For manufacturer use)
(For manufacturer use)
(For manufacturer use)
1 - 15
0 - 15
0 - 2
—
0 - 1
—
0 - 2
—
0 - 6
—
0 - 2
—
0 - 1
—
1
1
2
0
1
0
1
0
2
0
2
0
0
0
—
—
—
—
—
—
—
—
—
—
—
—
—
—
P • P2 • S
P • P2 • S
P • P2 • S *1
—
P • P2 • S
—
P • P2 • S
—
P • P2 • S
—
P • P2 • S
—
—
—
*00
*01
*02
03
*04
05
*06
07,08
09
0A,0B
*0C
0D
0E
0F
Parameters for Selecting Function
Parameter No.
Parameter description
Range
Default
Unit
Related control mode
(Pr )
Inertia ratio
Real time auto tuning set-up
Machine stiffness at auto turning
(For manufacturer use)
Normal auto tuning motion set-up
(For manufacturer use)
Adaptive filter frequency
0 - 10000
0 - 7
0 - 15
—
0 - 7
—
0 - 64
<100>
1
4
0
0
0
<0>
%
—
—
—
—
—
—
P • P2 • S
P • P2 • S *1
P • P2 • S
—
P • P2 • S
—
P2 *1
20
21
22
23,24
25
2D,2E
2F
Parameters for Auto Gain Tuning