Panasonic MINAS S-series Operating Manual page 99

P a r a m e t e r R a n g e
PrNo.
d e s c r i p t i o n
3 2
Position control
switching delay
t i m e
3 3
Position control
switching level
3 4
Position control
s w i t c h i n g
h y s t e r e s i s
3 5
Position loop
gain switching
t i m e
U n i t
0 ~ x 166 µs
• You can set-up the delay time when switching from the 2nd. to
the 1st. gain when the actual status shifts out of the preset
10000
condition with Pr31.
[ 0 ]
0 ~ ----
• This parameter is enabled when Pr31 is set to 3,5 and 6, and
10000 you can define the level of judgement for switch from the 1st.
to the 2nd. gain.
[ 0 ]
• You can set-up the width of the hysteresis to be defined at the
0 ~ ----
top and bottom of the level of judgement set with Pr33.
10000
The figure below shows the definitions of Pr32 (delay time), Pr33
[ 0 ]
(switching level) and Pr34 (hysteresis).
Pr33
<Notes>
The settings of Pr33 (level) and Pr34 (hysteresis) are enabled as
absolute values.
0 ~ (Value+1)
• You can set-up a phased switching time of the gain applied to
10000 x 166 µs
the position loop alone, while the 2nd. gain switching function
[ 0 ]
is enabled.
(Example)
Kp2(Pr10)
Kp1(Pr18)
• Use this parameter only for switching from a smaller position
loop gain to a larger position loop gain (from Kp1 to Kp2) (in
order to reduce the impact forces caused by a large change in
gain).
• Set the smaller value than the difference between
• Kp2 and Kp1.
- App.25 -
F u n c t i o n
0
2nd gain
1st gain
166 166µs
166 166
0
Pr35=
1
1st gain 2nd gain
Pr34
1st gain
Pr32
Kp1(Pr10)<Kp2(Pr18)
0
Bold solid line
3
1
2
2
3
Fine solid line
1st gain