Panasonic A6 Servo Motor and Driver Instruction — Setup of Parameter and Mode

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.

Outline/Setup/Connection

This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and comprehand very well so that you can adjust this driver in optimum condition for your running requirements.

• You can refer and set up the parameter with either one of the following.
1) front panel of the driver
2) combination of the setup support software, "PANATERM" and PC.

Note → How to control the front panel, refer to P.2-74.

It is possible to connect your personal computer to connector X1 of MINAS A6 using a USB cable for personal computer connection. Downloading the setup support software "PANATERM" from out web site and installing it on your personal computer will allow you to perform the following easily. • With the PANATERM, you can execute the followings.

1. Setup and storage of parameters, and writing to the memory (EEPROM).
2. Monitoring of I/O, pulse input and load factor.
3. Display of the present alarm and reference of the error history.
4. Data measurement of the wave-form graphic and bringing of the stored data.
5. Normal auto-gain tuning
6. Frequency characteristic measurement of the machine system.

Note → Because no production software such as CD-ROM is available, download the setup support software from our web site and install it on your personal computer.

• USB cable
On the driver, use commercially available USB mini-B connector.
The connector on the personal computer side should be in accordance with the specifications of the PC.
When the cable does not have noise filter, attach a signal line noise filter (DV0P1460) to both ends of the cable.

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Related page → • P.4-2 "Details of Parameter" • P.7-26 "Setup support software [PANATERM]"

Composition and List of Parameters

• The parameter No. is displayed in the form of PrX.YY(X:Classification, YY:No.).
• For the details on the parameters, refer to P.4-4 "Details of parameter".

Parameter No.		Class name	Group	page
Class	No.*
0	00 to 18	Basic setting	Parameter for Basic setting	P.2-52
1	00 to 78	Gain adjustment	Parameter for Gain adjustment	P.2-52
2	00 to 37	Damping control	Parameter fro Damping	P.2-55
3	00 to 29	Verocity/Torque/Full-closed control	Parameter for Verocity/Torque/Fullclosed control	P.2-57
4	00 to 57	I/F monitor setting	Parameter for I/F monitor setting	P.2-58
5	00 to 86	Enhancing setting	Parameter for Enhancing setting	P.2-60
6	00 to 98	Special setting	Parameter for Special setting	P.2-63
7	00 to 93	Special setting	Parameter for Special setting	P.2-66
8	00 to 19	For manufacturer's use	Not be used.	P.2-67
9	00 to 50	For manufacturer's use	Not be used.	P.2-68
15	00 to 35	For manufacturer's use	Not be use	P.2-69

*The Parameter No. consists of 2 digits.

• In this document, following symbols represent each mode.

Symbol	Control mode	Setup value of Pr0.01
P	Position control	0
S	Velocity control	1
T	Torque control	2
F	Full-closed control	6
P/S	Position (1st/Velocity (2nd) control	3*
P/T	Position (1st/Torque (2nd) control	4*
S/T	Velocity (1st/Torque (2nd) control	5*

* When you select the combination mode of 3, 4 or 5, you can select either 1^st or 2^nd with control mode switching input (C-MODE).
When C-MODE is ON: 1^st mode selection
When C-MODE is OFF: 2^nd mode selection
Do not enter the command 10ms before/after the switching.