Panasonic minas a4 series Instruction Manual page 246

Manual Gain Tuning (Basic)
Setup of Gain Switching Condition
• Positing control mode, Full-closed control mode (
Setup of gain switching condition
Pr31 Switching condition to 2nd gain
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input, GAIN ON
3 Variation of torque command is large.
4 Fixed to 1st gain
5 Speed command is large.
Position deviation/Full-closed
6
position deviation is large
7 Position command exists.
Not in positioning complete nor in
8
full-closed positioning complete
9 Speed
10 Command exists + velocity
• Velocity control mode
Setup of gain switching condition
Pr31,36 Switching condition to 2nd gain
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input, GAIN ON
Variation of torque command is
3
large.
Variation of speed command is
4
large.
5 Speed command is large.
• Torque control mode
Setup of gain switching condition
Pr31,36 Setup of gain switching condition Fig.
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input, GAIN ON
Variation of torque command is
3
large.
*1 Delay time (Pr32 and 37) will be valid only when returning from 2nd to 1st gain.
*2 Hysteresis is defined as the fig. below shows.
*3 When you make it a condition that there is 10% torque variation during 166µs, set up the value to 200.
10%/166µs = Setup value 200 x [0.05%/166 µ s]
*4 Designate with either the encoder resolution or the external scale resolution depending on the control mode.
*5 When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1.
*6 When Pr31=10, the meanings of delay time, level and hysteresis are different from the normal. (refer to Fig. G)
244
Setup parameters at position control, full-closed control
Delay time *1
Fig.
A
C
D
E
F
C
G
Delay time *1
Fig.
A
B
C
Delay time *1
A
Hysteresis
(Pr34, 39)
Level
(Pr33, 38)
0
: Corresponding parameter is valid, – : invalid)
Level
Pr32 Pr33
-
-
-
*3[0.05%/166 µs]
-
[r/min]
*4[pulse]
[r/min]
[r/min] *6
Setup parameters at velocity control mode
Level
Pr32, 37 Pr33, 38
-
-
-
[0.05%/166 µs]
[10(r/min)/s]
[r/min]
Setup parameters at torque control mode
Level
Pr32, 37 Pr33, 38
-
-
-
*3
[0.05%/166 µs]
H
L
Hysteresis *2
Pr34
- -
- -
- -
*3[0.05%/166 µs]
- -
[r/min]
*4[pulse]
- -
- -
[r/min]
[r/min]*6
Hysteresis *2
Pr34, 39
- -
- -
- -
*3 *3
[0.05%/166 µs]
*5 *5
[10(r/min)/s]
[r/min]
Hysteresis *2
Pr34, 39
- -
- -
- -
*3
[0.05%/166 µs]