Panasonic MINAS-BL GP series Instructions Manual - Parameter
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Parameter
Parameter
No.
(Pr
□□
)
Name of parameter
Effective
after
power
resetting
Setting
range
Default
Description
1b
The 4th point
The 4th
setting speed
0 to 4000 2000 You can set the speed moving to the 4th
point. Setting unit [r/min]
1C
The 4th
acceleration time
1 to 30000 200 You can set time taken for reaching the 4th
setting speed. Setting unit [ms]
1d
The 4th
deceleration time
1 to 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 )
1F
The 4th block
timer setting
0 to 30000 0
Enabled when you set Pr1E to “1”.
Start commanding of 1st point after this set-
ting time elapses and command of 4th point
is completed. Enabled in unit of 2 ms.
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 to 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
28
Position loop gain
(the 1st gain)
0 to 100
5
You can determine the response of position
control. You need not change it normally.
When it is increased, the response is im-
proved, 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 to 10000 1000
You can determine the response of velocity
loop. You need not change it normally. When
it is increased, the response is improved,
which is likely to cause oscillation.
2A
Velocity loop
integration gain
(the 1st gain)
0 to 10000 500
You can determine the rigidity of velocity
loop. You need not change it normally. When
it is increased, the rigidity is improved, which
is likely to cause oscillation.
2b
Velocity feed
forward gain
(the 1st gain)
0 to 100
0
Set it to 0 in normal use. 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 [%]
Parameter
No.
(Pr
□□
)
Name of parameter
Effective
after
power
resetting
Setting
range
Default
Description
2C
Speed detection filter
(the 1st gain)
5 to 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 to 500
0
Set it at 0 in normal use. This is a filter in ve-
locity 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)
50 to 150 150
Output torque of motor is limited. Set it in
[%] with reference to rated torque. (Torque
value has no precision because torque is not
controlled. Use it as an index.)
2F
Torque filter time
constant
(Common to the
1st/2nd gain)
0 to 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 to 100
5
You can determine the response of posi-
tion 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 to 10000 1000 You can determine the response of velocity
loop.
32
The 2nd velocity loop
integration gain
(the 2nd gain)
0 to 10000 500 You can determine the rigidity of velocity
loop.
33
The 2nd velocity feed
forward gain
(the 2nd gain)
0 to 100
0
Set it at 0 in normal use.
Setting unit [%]
34
The 2nd speed
detection filter
(the 2nd gain)
5 to 20
13
Use the default setting normally.
You can set the time constant of low-pass
filter in speed feedback.
35
The 2nd torque limit
setting
(The 2nd gain)
50 to 150 150
Output torque of the motor is limited. Set it in
[%] with reference to rated torque. (Torque
value has no precision because torque is not
controlled. Use it as an index.)
36
Gain switching mode
selection
0 to 2
0
0: Fixed at the 1st gain
1: Fixed at the 2nd gain
2: Automatic switching (In running = the 2nd
gain, In standstill = the 1st gain)