Panasonic minas a4 series Instruction Manual page 247

speed N
torque T
∆T
level
delay
1st gain
1 2 2
1
command
speed S
∆S
level
delay
1st 2nd 1st gain
<Caution>
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (Pr34 and 39).
motor speed or
Fig.A
commanded
speed
level
1st
speed N
deviation pulse
level
2 2 1
1
1st
Fig. B
command pulse
at stall
1st gain
| actual speed |
2nd 1st
| actual speed |
Fig. C
delay
2nd gain 1st
Fig. D
delay
2nd gain 1st
no command pulse
x Pr32,delay time
exists.
in action at settling
2nd gain 2nd gain
<
(Pr33 level - Pr34 hysteresis)
<
(Pr33 level - Pr34 hysteresis)
[Adjustment]
Fig. E
command
speed S
delay
1st 2nd gain
Fig. F
speed N
COIN
delay
1st 2nd gain
Fig. G
<
| actual speed |
Pr33 level
proximity of stall
2nd gain for velocity integrating
only and 1st gain for others
1st
1st
245