Panasonic MINAS A5 Series Operating Instructions Manual page 313

5. Manual Gain Tuning (Application)
3rd gain switching function
How to Use
used.
plied.
Caution
Position speed command [r/min]
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2nd gain
Pr1.05 to 1.09
[3rd gain period]
Position loop gain = Pr1.00 × Pr6.06/100
Speed proportional gain = Pr1.01 × Pr6.06/100
Time constant of velocity integration, speed
detection filter and torque filter directly use the
1st gain value.
Pr6.05×0.1ms
3rd gain 1st gain
Pr1.00 to 1.04
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