Gain Switching Command (Gain_Sw) - Panasonic MINAS-A5NL Series Technical Reference

4-2-3-2 Gain switching command (Gain_SW)

Class No. Attribute
1 14
The gain can be changed by using Gain_SW provided that the real time auto-gain tuning is disabled, 2nd gain is
enabled and gain switching through RTEX communication is enabled.
0: Select 1st gain
1: Select 2nd gain
Parameter to be set up
Pr.0.02 Real-time auto-gain tuning setup
Pr.1.14 2nd gain setup
Pr.1.15 Mode of position control switching
Pr.1.20 Mode of velocity control switching
Pr.1.24 Mode of thrust control switching
Switching of velocity loop, P/PI control through Gain_SW is possible when real-time auto-gain tuning is disabled and
2nd gain is disabled.
0: PI control (enable velocity loop integral)
1: P control (clear velocity loop integral)
Parameter to be set up
Pr.0.02 Real-time auto-gain tuning setup
Pr.1.14 2nd gain setup
R2.0
Title Range
B 2nd gain setup 0–1
Unit
Arrange this parameter when performing optimum adjustment
by using the gain switching function.
0: Fixed to 1st gain. Velocity loop operation is set to PI or P
depending on the control bit Gain_SW of RTEX
- communication.
Gain_SW = 0 -> PI operation
Gain_SW = 1 -> P operation
1: Enable gain switching of 1st gain (Pr.1.00–Pr.1.04) and 2nd
gain (Pr.1.05–Pr.1.09).
Setting value
0 Disable real-time auto-gain tuning
Enable 1st/2nd gain switching
1
Disable P/PI control switching
2 Gain switching through RTEX communication (Gain_SW)
2 Gain switching through RTEX communication (Gain_SW)
2 Gain switching through RTEX communication (Gain_SW)
Setting value
0 Real-time auto-gain tuning function is disabled.
Enable 1st/2nd gain switching
0
Disable P/PI control switching
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 30 -
Description
Description
Description