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 6] Special setting

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 6] Special setting

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
6	00	Analog torque feed forward conversion gain	0 to 100	0			0.1V/100%*		○	○		○	4-68
6	02	Speed deviation excess setup	0 to 20000	0			r/min		○
6	04	JOG trial run command speed	0 to 500	300			r/min		○	○	○	○
6	05	Position control 3^rd gain effective time	0 to 10000	0			0.1ms^*		○			○
6	06	Position control 3^rd gain scale factor	50 to 1000	100			%		○			○
6	07	Additional value to torque command	-100 to 100	0			%		○	○		○	4-69
6	08	Torque compensation value in positive direction	-100 to 100	0			%		○			○
6	09	Torque compensation value in negative direction	-100 to 100	0			%		○			○
6	10	Function expansion setup	-32768 to 32767	16			-		○	○	○	○
6	11	Current response setup	10 to 100	100			%						4-70
6	13	Second inertia ratio	0 to 10000	250			%		○	○	○	○
6	14	Immediate stop time at the time of alarming	0 to 1000	200			1 ms		○	○	○	○
6	15	2^nd over-speed level setup	0 to 20000	0			r/min		○	○	○	○
6	16	For manufacturer's use	-	0			-		○	○	○	○
6	17	Front panel parameter writing selection	0 to 1	0			-	○	○	○	○	○
6	18	Power turn-on wait time	0 to 100	0			0.1 s^*	○	○	○	○	○
6	19	Encoder Z phase setup	0 to 32767	0			pulse	○	○	○	○	○	4-71
6	20	Z-phase setup of external scale	0 to 400	0			μs	○				○
6	21	Serial absolute external scale Z phase setup	0 to 2²⁸	0			pulse	○				○
6	22	A, B phase external scale pulse output method selection	0 to 1	0			—	○				○	4-72
6	23	Load fluctuation correction gain	-100 to 100	0			%		○	○
6	24	Load fluctuation correction filter	10 to 2500	53			0.01 ms^*		○	○
6	27	Alarm latch time selection	0 to 10	5			s	○	○	○	○	○
6	28	Special function selection	0 to 1	0			—	○	○
6	30	For manufacturer's use	—	0			—						4-73
6	31	Real time auto tuning estimation speed	0 to 3	1			—		○	○	○	○	4-73
6	32	Real time auto tuning custom setup	-32768 to 32767	0			—		○	○	○	○	4-74
6	33	For manufacturer's us	—	1000			—						4-76
6	34	Hybrid vibration suppression gain	0 to 30000	0			0.1 /s^*					○
6	35	Hybrid vibration suppression filter	0 to 32000	10			0.01 ms^*					○
6	36	Dynamic brake operation input	0 to 1	0			—	○	○	○	○	○
6	37	Oscillation detecting lelvel	0 to 1000	0			0.1%^*		○	○	○	○
6	38	Alarm mask setup	-32768 to 32767	4			—	○	○	○	○	○	4-77
6	39	For manufacturer's use	—	0			—
6	41	1^st damping depth	0 to 1000	0			—
6	42	Two-stage torque filter time constant	0 to 2500	0			0.01 ms		○	○	○	○
6	43	Two-stage torque filter damping term	0 to 1000	0			—		○	○	○	○
6	47	Function expansion setting 2	-32768 to 32767	1			—	○	○	○	○	○	4-78
6	48	Adjustment filter	0 to 2000	A:11 B, C:12		17	0.1 ms		○	○		○
6	49	Command response filter/adjustment filter damping term setting	0 to 99	15			—		○			○
6	50	Viscous friction compensation gain	0 to 10000	0			0.1%/(10000 r/min)		○	○		○	4-79
6	51	Immediate stop completion wait time	0 to 10000	0			ms		○	○	○	○
6	52	For manufacturer's use	—	0			—
6	53	For manufacturer's use	—	0			—
6	54	For manufacturer's use	—	0			—
6	57	Torque saturation error protection detection time	0 to 5000	0			ms		○	○		○	4-80
6	58	Serial absolute external scale Z phase shift amount ^*1	-2147483648 to 2147483647	0			pulse	○	○	○	○	○
6	60	2^nd damping depth	0 to 1000	0			—		○			○
6	61	1^st responance frequency	0 to 3000	0			0.1Hz		○				4-81
6	62	1^st resonance damping ratio	0 to 1000	0			—		○
6	63	1^st anti-responance frequency	0 to 3000	0			0.1Hz		○
6	64	1^st anti-resonance damping ratio	0 to 1000	0			—		○
6	65	1^st response frequency	0 to 3000	0			0.1Hz		○
6	66	2^nd resonance frequency	0 to 3000	0			0.1Hz		○
6	67	2^nd resonance damping ratio	0 to 1000	0			—		○
6	68	2^nd anti-resonance frequency	0 to 3000	0			0.1Hz		○
6	69	2^nd anti-responance damping ratio	0 to 1000	0			—		○
6	70	2^nd response frequency	0 to 3000	0			0.1Hz		○				4-82
6	71	3^rd damping depth	0 to 1000	0			—		○			○
6	72	4^th damping depth	0 to 1000	0			—		○			○
6	73	Load estimation filter	0 to 2500	0			0.01 ms		○	○		○
6	74	Torque compensation frequency 1	0 to 5000	0			0.1Hz		○	○		○
6	75	Torque compensation frequency 2	0 to 5000	0			0.1Hz		○	○		○
6	76	Load estimation count	0 to 8	0			—		○	○		○
6	87	For manufacturer's use	—	0			—
6	88	Absolute multi-rotation data upper limit	0 to 65534	0			—	○	○	○	○	○	4-83
6	97	Function expansion setting 3	-2147483648 to 2147483647	0			—		○	○	○	○
6	98	Function expansion setting 4	-2147483648 to 2147483647	0			—	○	○	○	○	○

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 control, T: torque control, F: full closed control

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.4-85.