Servo Driver Parameters
Panasonic Minas A6 Servo (EtherCAT)
|
Parameter |
Description |
Setting Value |
|
Pr00.02 |
Real Time Auto Tunning |
0 (Disabled) |
|
Pr01.00 |
Position Loop Gain |
96.0 |
|
Pr01.01 |
Velocity Loop Gain |
54.0 |
|
Pr04.01 |
D11 Signal Selection |
65793 |
|
Pr04.02 |
D12 Signal Selection |
131586 |
|
6091-01h |
Position Numerator |
00800000h |
|
6092-01h |
Position Denominator |
00002710h |
|
607E |
Rotational Direction Setup |
E0h |
Note: The EtherCAT ID settings on Panasonic Servo Motor Drives are made using the address switches, and the parameter settings are done using the Panaterm program.
INVT SV-DA Servo (EtherCAT)
|
Parameter |
Description |
Setting Value |
|
P0.02 |
Forward Rotation Of Motor |
1 |
|
P0.70 |
Absolute Encoder Mode Setting |
1 (Multiple Circles) |
|
P0.71 |
Absolute Encoder Multi-Turn Zeroing |
1 |
|
P4.00 |
EtherCAT Node ID |
It is determined according to the order |
|
P4.07 |
EtherCAT Synchronous Cycle |
3 (2ms) |
|
P4.08 |
EtherCAT Synchronous Type |
2 (DC Mode(SYNC0)) |
Full Closed-loop operation:
Deckel Maho example settings
The number of teeth on the coupling of the motor: 28
The number of teeth on the coupling of the lead screw: 77
The resolution of the scale: 0.001mm
Pitch: 5.000mm
P4.61 = 44/77 * 5000
= 2857.14
|
Parameter |
Description |
Setting Value |
|
P0.22 |
Pulse Number Per Motor Resolution |
0 |
|
P0.25 |
Numerator Of 1st Electronic Gear Ratio |
1 |
|
P0.26 |
Denominator Of 1st Electronic Gear Ratio |
1 |
|
P0.38 |
Enable Fully-Closed Loop |
1 |
|
P2.00 |
1st Speed Gain |
108 |
|
P2.01 |
1st Speed Integral Time Constant |
21 |
|
P2.02 |
1st Position Gain |
192 |
|
P4.60 |
Frequency Division Molecular Of External Linear Encoder |
Motor resolution (838860800) |
|
P4.61 |
Frequency Division Denominator Of External Linear Encoder |
The pulse value read from R0.57 when P0.03=0 285714 |
|
P4.62 |
Direction Reversal Of External Linear Encoder |
It is set to 1 when necessary. (When reversed, the motor vibrates.) |
Pulser3 Numerator: 1
Pulser3 Denominator: 10
Delta ASD-A2 Servo (EtherCAT)
To change the motor rotation direction:
|
Parameter |
Description |
Setting Value |
|
P1-01 |
Control Mode And Output Direction |
0x000C or 0x010C |
|
P3-12 |
- |
0x0100 |
Inovance SV660N Servo (EtherCAT)
|
Parameter |
Description |
Setting Value |
|
H02-00 |
Control Mode |
9 (EtherCAT) |
|
H02-02 |
Direction Of Rotation |
0/1 |
|
H0E-21 |
Alias ID |
It is determined according to the order |
|
H05-07 |
Numerator Of Electronic Gear Ratio |
8388608 (For 23-Bit Encoder) |
|
H05-09 |
Denominator Of Electronic Gear Ratio |
10000 |
|
H09-00 |
Gain Auto Tunning |
0: Off / 1: On |
|
H09-03 |
Online Interia Auto Tunning |
0: Off / 1: On |
|
H02-01 |
Absolute Mode |
0/1 |
|
H0D-20 |
Encoder Counter Reset |
2 (Clear Alarm And Multi Turn Data) |
|
H02-31 |
Factory Defaults |
1 (Done if necessary) |