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

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			—

Best Buy Robotic Arm for Injection Molding Machine

SW6712D-20

Unit: mm

X1	X2	X3	X4	Y	YM1	YM2	Z	L	W	H	Payload
1025	605	250	590	1200	475	725	2000	3020	1610	2050	8kg

The Application of End of Robotic Arm Tooling

EOAT Assembly Demonstration -- Two Cavities Parts Picking EOAT with Runner Cutting by Air Nipper

Two Cavities Parts Picking EOAT with Runner Cutting by Air Nipper

Product Descriptions

This EOAT is for 2 Cavities Parts Picking;
The Parts Would be Picked with Clamping;
The Sprue Gripper is Included for Sprue Gate Gripping;
The Sprue Gate Would be Cut by Air Nipper;
The Gross Weight of the EOAT Seet is about 1.5kg.

Bom List

Product Name	PN #	Model	Quantity
Sus Tube	4.Y00021	PST12-1500	2
Air Nipper	1.Y00004	GT-NY25	2
Straight Blades for Plastic	1.Y00037	NY25AJ	2
Fixing Block	7.Y00633	SCE2-25	2
Tube Plugs	1.Y03638	PST12-1500	11
Cross Connector	7.Y00027	SMBT-2012	2
Access Robot Bracket	7.Y00002	SMBH1-12M6	6
L-Type Thread Hose Fitting	1.Y02809	APL6-M5	3
Slide Bracket	7.Y00004	SCF4-1240W16	7
Slide Bracket	7.Y00001	SMBS-12T16	7
Sprue Gripper	8.Y00091	GR12-12-CN	1
Cross Connector	7.Y00020	SMBT-1212	1

Q & A About Robotic Arms and Injection Automation

What's the Working Process of SWITEK Ball Valve Injection Automation System?

PVC/PPR ball valve is a very important pipe fittings in the drainage system in control of the water flow. But the injection production of a ball valve it'll need to insert the core of the valve with the sealing ring into the mold. The in mold insertion of the spare parts would be done manually which the cost is increasing with the getting higher labour cost and difficult to increase the productivity. That's why LESSO group invited SWITEK Automation to develop a series of pipe fittings auto-production solutions, among which include the Ball Valve Core Insertion System.

4 Cavities Ball Valve Injection Automation Solutions

Designated to design an economic but efficient automation solution of ball valve injection production, the SWITEK 4 cavities ball valve in mold insertion solutions include the following functions:

The O Ring sorting and inserting
The ball valve core sorting and inserting
The ball valve picking
The runner cutting
The turning of the ball valve core

The functions above will ensure that the system will produce the PVC/PPR ball valve automatically.

For detailed cofiguration of SWITEK ball valve injection automation system please contact Adams of SWITEK to get a turn-key automation solutions of PVC/PPR ball valve production.

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

HIGH SPEED IML ROBOT

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

Abstract

[Class 1] Gain adjustment

List of Parameters

Best Buy Robotic Arm for Injection Molding Machine

The Application of End of Robotic Arm Tooling

Two Cavities Parts Picking EOAT with Runner Cutting by Air Nipper

Q & A About Robotic Arms and Injection Automation

Contact SWITEK Robot On WhatsApp.

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