Panasonic minas a4 series Instruction Manual page 152

Parameter Setup
PrNo. Title
32 1st delay time of
control switching
33 1st level of
control switching
34 1st hysteresis
of control switching
36 2nd mode of
control switching
37 2nd delay time of
control switching
38 2nd level of control
switching
39 2nd hysteresis of
control switching
JOG speed setup
3D
<Notes>
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
150
Setup
Unit
range
0 to x 166µs You can set up the delay time when returning from the 2nd to the 1st gain,
10000 while Pr31 is set to 3 or 5 to 10.
<30>*
0 to 20000 – You can set up the switching (judging) level of the 1st and the 2nd gains,
<50>* while Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
You can set up hysteresis width to be
0 to 20000 –
implemented
<33>*
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
0 to 5 – You can select the switching condition of the 1st and 2nd gain while Pr30
is set to 1 and when the 2nd control mode is velocity control.
<0>*
Setup value
<0>*
*1 Fixed to the 1st gain regardless of the GAIN input, when Pr31 is set to
2 and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and timing, refer to P.244, "Setup of Gain
Switching Condition" of Adjustment.
0 to 10000 x 166µs You can set up the delay time when returning from 2nd to 1st gain, while
<0> Pr36 is set to 3 to 5.
0 to 20000 – You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr36 is set to 3 to 5
<0>
Unit varies depending on the setup of Pr36 (2nd mode of control
switching).
0 to 20000 –
You can set up the hysteresis width
to be implemented above/below the
<0>
judging level which is set up with
Pr38.
Unit varies depending on the setup
of Pr36 (2nd mode of control
switching).Definition of Pr37 (Delay),
Pr38 (Level) and Pr39 (Hysteresis)
are explained in the fig. below.
<Caution>
Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value
(positive/negative).
0 to 500 r/min You can setup the JOG speed.
<300> Refer to P.75, "Trial Run"of Preparation.
Function/Content
above/below
Gain switching condition
Fixed to the 1st gain
1 Fixed to the 2nd gain
*1
2nd gain selection when gain switching input is turned on
2
(GAIN : CN X5, Pin-27) (Pr30 setup must be 1.)
3 *2
2nd gain selection when the torque command variation is larger.
*2 2nd gain selection when the speed command variation
4
(acceleration) is larger.
*2
5 2nd gain selection when the command speed is larger.
Standard default : < >
the
Pr33
0
1st gain 2nd gain
Pr38
0
1st gain 2nd gain
Pr34
1st gain
Pr32
Pr39
1st gain
Pr37