HIGH SPEED IML ROBOT

Keywords:Panasonic A6 Servo Installation Instruction, Panasonic A6 Driver, Panasonic A6 Series Servo Motor Manual

Panasonic A6 Servo Motor and Driver Instruction — List of Parameters/[Class 1] Gain adjustment

Abstract

The correct setup of the parameter and mode of the Panasonic A6 series of servo will ensure the proper working of the Panasonic A6 series of motor and the stability of your machineries and automation system.

[Class 1] Gain adjustment

Parameter No.		Title	Range	Default			Unit	Turning on of power supply	Related Control Mode				Detail page
Class	No.	Title	Range	A, B-frame	C-frame	D, E, F-frame	Unit	Turning on of power supply	P	S	T	F	Detail page
1	00	1^st gain of position loop	0 to 30000	480		320	0.1/s^*		○			○	4-16
1	01	1^st gain of velocity loop	1 to 32767	270		180	0.1 Hz^*		○	○	○	○
1	02	1^st time constant of velocity loop integration	1 to 10000	210		310	0.1 ms^*		○	○	○	○

Partial parameter of standard type and communication type are different from a table in a shipment parameter.
Definition of symbols under "Power Off/On"—: if a change is made, it will be reflected upon the parameter when the power to the driver is turned off and then on again.
Definition of symbols under "Related mode"—P: position control, S:velocity, T: torque control, F: full closed control *1 Default settings depend on the combination of driver and motor. Refer to P.2-68 "Torque limit setting".

Caution → The symbol "*" attached to "Unit". indicates that the digits of setting unit will change if the parameter is set by using the setup support software PANATERM.
Note → Parameter describes of this page is P.4-6 to P.4-16.

List of Parameters

Parameter No.		Title	Range	Default			Unit	Turning on of power supply	Related Control Mode				Detail page
Class	No.	Title	Range	A, B-frame	C-frame	D,E,F-frame	Unit	Turning on of power supply	P	S	T	F	Detail page
1	03	1^st filter of speed detection	0 to 5	0			—		○	○	○	○	4-16
1	04	1^st time constant of torque filter	0 to 2500	84		126	0.01 ms		○	○	○	○	4-16
1	05	2^nd gain of position loop	0 to 30000	480		320	0.1/s^*		○			○	4-17
1	06	2^nd gain of velocity loop	1 to 32767	270		180	0.1Hz^*		○	○	○	○
1	07	2^nd time constant of velocity loop integration	1 to 10000	210		310	0.1ms^*		○	○	○	○
1	08	2^nd filter of speed detection	0 to 5	0			—		○	○	○	○
1	09	2^nd time constant of torque filter	0 to 2500	84		126	0.01ms^*		○	○	○	○
1	10	Velocity feed forward gain	0 to 4000	1000			0.10 %*		○			○
1	11	Velocity feed forward filter	0 to 6400	0			0.01 ms^*		○			○
1	12	Torque feed forward gain	0 to 2000	1000			0.10%^*		○	○		○	4-18
1	13	Torque feed forward filter	0 to 6400	0			0.01ms^*		○	○		○
1	14	2^nd gain setup	0 to 1	1			—		○	○	○	○
1	15	Mode of position control switching	0 to 10	0			—		○			○	4-19
1	16	Delay time of position control switching	0 to 10000	10			0.1ems^*		○			○	4-19
1	17	Level of position control switching	0 to 20000	0			—		○			○	4-20
1	18	Hysteresis at position control switching	0 to 20000	0			—		○			○
1	19	Position gain switching time	0 to 10000	10			0.1ms^*		○			○
1	20	Mode of velocity control switching	0 to 5	0			—			○			4-21
1	21	Delay time of velocity control switching	0 to 10000	0			0.1ms^*			○
1	22	Level of velocity control switching	0 to 20000	0			—			○
1	23	Hysteresis at velocity control switching	0 to 20000	0			—			○			4-22
1	24	Mode of torque control switching	0 to 3	0			—				○
1	25	Delay time of torque control switching	0 to 10000	0			0.1ms^*				○
1	26	Level of torque control switching	0 to 20000	0			—				○
1	27	Hysteresis at torque control switching	0 to 20000	0			—				○
1	28	For manufacturer's use	—	1000			—
1	29	For manufacturer's use	—	1000			—
1	30	For manufacturer's use	—	0			—
1	31	For manufacturer's use	—	480		320	—
1	32	For manufacturer's use	—	270		180	—
1	33	For manufacturer's use	—	210		310	—
1	34	For manufacturer's use	—	84		126	—
1	35	For manufacturer's use	—	250			—
1	36	For manufacturer's use	—	1000			—
1	37	For Manufacturer's use	—	1000			—
1	38	For manufacturer's use	—	0			—
1	39	For manufacturer's use	—	480		320	—
1	40	For manufacturer's use	—	270		180	—
1	41	For manufacturer's use	—	210		310	—
1	42	For manufacturer's use	—	84		126
1	43	For manufacturer's use	—	250			—
1	44	For manufacturer's use	—	1000			—
1	45	For manufacturer's use	—	1000			—
1	46	For manufacturer's use	—	0			—
1	47	For manufacturer's use	—	480		320	320
1	48	For manufacturer's use	—	270		180	—
1	49	For manufacturer's use	—	210		310	—
1	50	For manufacturer's use	—	84		126	—
1	51	For manufacturer's use	—	250			—
1	52	For manufacturer's use	—	1000			—
1	53	For manufacturer's use	—	1000			—
1	54	For manufacturer's use	—	0			—
1	55	For manufacturer's use	—	480		320	—
1	56	For manufacturer's use	—	270	180	—
1	57	For manufacturer's use	—	210		310	—
1	58	For manufacturer's use	—	84		126	—
1	59	For manufacturer's use	—	250			—
1	60	For manufacturer's use	—	1000			—
1	61	For manufacturer's use	—	1000			—
1	62	For manufacturer's use	—	0			—
1	63	For manufacturer's use	—	480		320	—
1	64	For manufacturer's use	—	270		180	—
1	65	For manufacturer's use	—	210		310	—
1	66	For manufacturer's use	—	84		126	—
1	67	For manufacturer's use	—	250			—
1	68	For manufacturer's use	—	1000			—
1	69	For manufacturer's use	—	1000			—
1	70	For manufacturer's use	—	0			—
1	71	For manufacturer's use	—	480		320	—
1	72	For manufacturer's use	—	270		180	—
1	73	For manufacturer's use	—	210		310	—
1	74	For manufacturer's use	—	84		126	—
1	75	For manufacturer's use	—	250			—
1	76	For manufacturer's use	—	1000			—
1	77	For manufacturer's use	—	1000			—
1	78	For manufacturer's use	—	0			—