Panasonic MINAS S Series Operating Manual page 127

PrNo. Parameter
description
Details of Parameters
2nd gain action
3 0
set-up
Position control
3 1
switching mode
Value
[ 0 ]
1
2
*
3
3
*
4
3
*
5
3
*
6
3
*
7
3
*
8
3
Range Unit
• You can select the switching between PI and P action or
0 ~ 1 -----
*1 Switch the PI and P action with the gain switching input
(GAIN: CN I/F Pin 5).
*2 See Adjustment for the conditions for switching between
• You can select the conditions for switching between the 1st
0 ~ 8 ---
and
Conditions for gain switching
Fixed to th e 1st gain
Fixed to th e 2nd gain
2 nd gain s election w t ith the gain switching input (GAIN) ON/ o 1)
be set t
( Pr30 mus
2 nd gain s election w ith a larger torque command change
Fixed to th e 1st gain
2 nd gain s election w ith a larger velocity command
2 nd gain s election w ith a larger position error
2 nd gain s election w ith the position command issued h existence of 1 or more
nd gain se command pulse in 166 É s area.
2 lection wit
2 nd gain s election w ith no in-position ith a position error counter value larger
nd gain s election w
2 than Pr60 (in-
position d etection ra
nge)
3 For th e switchin g level and timing, see App. 54 and App. 55.
*
- App.30 -
Function
switching between the 1st and 2nd gains.
Value Gain selection and switching
Fixed to the 1st gains
[ 0 ]
*1 (switching between PI and P possible)
Switching between the 1st and
2nd gains possible *2
1
GAIN input
COM- disconnected
COM- connected
the 1st and 2nd gains.
2nd gains at the position control mode.
Operation of the position
loop
PI operation
P operation