Panasonic MINAS A5-series Operating Instructions Manual
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4-54Pr6.21 * Title Serial absolute external scale Z phase setup Relatedcontrol mode P S T FRange 0 to 228 Unit pulse Default 0Full-closed control using serial absolute feedback scale. When outputting pulses by usingthe feedback scale as the source of the output, set the Z phase output interval in units of Aphase output pulses of the feedback scale (before multiplied by 4).Setup value Content0 Output Z phase only at absolute 0 position of feedback scale.1 to 268435456After the power is fed to the driver, the Z phase, as it crosses the zero atthe absolute position of feedback scale, is output in synchronous with theA phase. Subsequently, the Z phase is output at the A phase output pulseintervals set to this parameter.Pr6.22 * Title A, B phase external scale pulse outputmethod selectionRelatedcontrol mode P S T FRange 0 to 1 Unit — Default 0Select the pulse regeneration method of A, B and Z parallel feedback scale.Setup value Regenerating method0 Directly output the signals from A, B and Z parallel feedback scales.1 Output A and B phase signals recovered from A, B and Z parallel feedback scales.Z-phase is output directly.Pr6.23 Title Disturbance torque compensating gain Relatedcontrol mode P S T FRange −100 to 100 Unit % Default 0• Set up -100 to 100% compensating gain against disturbance torque.• After setting up Pr6.24, increase Pr6.23.The disturbance suppressing capability increases by increasing the gain, but it isassociated with increasing volume of operation noise.This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23.Pr6.24 Title Disturbance observer filter Relatedcontrol mode P S T FRange 0 to 2500 Unit 0.01ms Default 53• Filter setup 10-2500, 0.01 ms. Set up the filter time constant according to the disturbancetorque compensation.• First, set up Pr6.24 to a larger value and check the operation with Pr6.23 Disturbancetorque compensating gain set to a low value, and then gradually decrease the setup valueof Pr6.24. A low filter setup value assures disturbance torque estimation with small delayand effectively suppresses effects of disturbance. However, this results in larger operationnoise. Well balanced setup is required.Pr6.27 * Title Alarm latch time selection Relatedcontrol mode P S T FRange 0 to 10 Unit — Default 5Set up the latch time. Setup value Content0 Latch time: infinite1 to 10 Latch time: 1 to 10 s1. Details of parameter[Class 6] Special setting |
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This manual is suitable for:
MADHT1105MADHT1107MADHT1505MADHT1507MBDHT2110MBDHT2510MCDHT3120MCDHT3520MDDHT3530MDDHT5540MDME202G1MDME302G1MDME402G1MDME502G1MEDHT7364MFDHTA390MFDHTB3A2MGME092G1MGME202G1MGME302G1MHME102G1MHME152G1MHME202G1MHME302G1MHME402G1MHME502G1MINAS A5-seriesMSME011G1MSME012G1MSME021G1MSME022G1MSME041G1MSME042G1MSME082G1MSME102G1MSME152G1MSME202G1MSME352G1MSME5AZG1
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