Panasonic MADDT1207 Technical Reference page 31

Parameters for Functional Selection
Parameter
Set up of parameter
No.
(Pr )
00 1 Address of axis
*
Initial display of LED
01 * 1
02 * 1 Setup of control mode
03 Selection of torque limit
04 * 1 Setup of over-travel inhibit input
05 Switching of Internal/External speed setup
06 Selection of ZEROSPD input
07 Selection of speed monitor (SP)
08 Selection of torque monitor (IM)
09 Selection of TLO output
0A Selection of ZSP output
0B * 1 Setup of absolute encoder
0C 1 Baud rate setup of RS232
*
0D * 1 Baud rate setup of RS485
0E 1 Setup of front panel lock
*
0F (For manufacturer's use)
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter
Set up of parameter
No.
(Pr )
10 1st gain of position loop
11 1st gain of velocity loop
12 1st time constant of velocity loop integration
13 1st filter of velocity detection
14 1st time constant of torque filter
15 Velocity feed forward
16 Time constant of feed forward filter
17 (For manufacturer's use)
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
Range Default
0 to 15 1
0 to 17 1
0 to 6 1
0 to 3 1
0 to 2 1
0 to 3 0
0 to 2 0
0 to 9 3
0 to 12 0
0 to 8 0
0 to 8 1
0 to 2 1
0 to 5 2
0 to 5 2
0 to 1 0
– –
Default
Range
A to
C-frame
0 to 3000 <63> <32>
1 to 3500 <35> <18>
1 to 1000 <16> <31>
0 to 5 <0>
0 to 2500 <65> <126>
–2000 to 2000 <300>
0 to 6400 <50>
– –
– B31 –
Related control
Unit
mode
–
–
–
– P, S, F
–
–
– S, T
–
–
–
–
–
–
–
–
–
Related control
Unit
D to
mode
F-frame
1/s P, F
Hz
ms
–
0.01ms
0.1% P, F
0.01ms P, F
–
all
all
all
all
S
all
all
all
all
all
all
all
all
–
all
all
all
all
–