Parameters For Adjustment (2Nd Gain Switching Function) - Panasonic minas a4 series Instruction Manual

PrNo. Title
25 Setup of an action
at normal mode
auto-gain tuning
28 2nd notch
frequency
29 Selection of
2nd notch width
2A Selection of
2nd notch depth

Parameters for Adjustment (2nd Gain Switching Function)

PrNo. Title
30 Setup of 2nd gain
31 1st mode of
control switching
Setup value
<0>*, 4 to 10
1
2 *1
*2
3
<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.
[Connection and Setup of Torque Control Mode]
Setup
Unit
range
0 to 7 – You can set up the action pattern at the normal mode auto-gain tuning.
<0>
Setup value
<0>
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
100 to 1500 Hz You can set up the 2nd notch width of the resonance suppressing filter in
<1500> 5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
0 to 4 – You can set up the notch width of 2nd resonance suppressing filter in 5
<2> steps. Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
0 to 99 – You can set up the 2nd notch depth of the resonance suppressing filter. Higher
<0> the setup, shallower the notch depth and smaller the phase delay you can obtain.
Setup
Unit
range
0 to 1 – You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
<1>*
Setup value
<1>*
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
0 to 10 – You can select the switching condition of 1st gain and 2nd gain while Pr30
<0>* is set to 1.
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Function/Content
Number of revolution
1
2 [revolution]
2
3
4
5
1 [revolution]
6
7
Function/Content
Gain selection/switching
0
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Gain switching condition
Standard default : < >
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Standard default : < >
Action of velocity loop
PI action
P action
179