Parameters For Position Control; Parameters For Switching To 2Nd Gains - Panasonic MINAS A3 Series How To Use Manual

Parameter Setting

Parameters for Switching to 2nd Gains

Parameter
Parameter Name
No.
30 2nd gain action
set up
3A Torque control
switching mode
3B Torque control
switching delay time
3C Torque control
switching level
3D Torque control
switching hysteresis

Parameters for Position Control

Parameter
Parameter Name
No.
44 Output pulses per
single turn
45 Pulse output
logic inversion
150
Setting
Unit
range
0 – 1 – • The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
*1 Switching of 1 PI/P operation is done through gain switching input
(GAIN CN X5 27-pin).
*2 For conditions of switching between the 1st and 2nd gains, refer to
"Adjustment upon switching gain" of Adjustment volume on page 202.
0 – 3 – • The parameter selects conditions for switching between the 1st and 2nd
gains in torque control mode.
• This is same as Pr31 except parts related to position and speed control.
Setting value
[0]*
1
2
3
*1 For details on levels to be switched, refer to "Adjustment upon switching
gain" of Adjustment volume on page 202.
0 – 10000 x 166 s • This is same as content of:
[0] Pr32: Switching delay time
0 – 20000 – Pr33: Switching level
[0] Pr34: Hysteresis at switching"
0 – 20000 – in position control mode.
[0]
Setting
range
1 – 16384 The parameter sets number of pulses per one revolution of encoder pulse to be out-
[2500] put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
0 – 1 In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
Setting value
A pulse(OA)
B pulse(OB)
[0]
Non-inverting
B pulse(OB)
1
Inverting
Function/Description
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
GAIN input
Open with COM–
Connect to COM–.
Conditions for Switching Gains
Fixed to the 1st gain.
Fixed to the 2nd gain.
With the gain switching input (GAIN) turned ON, 2nd gain is
selected. (Pr30 should be set to 1.)
With much variation of torque command, the 2nd gain is
*1
selected.
Function/Description
IWhen Motor is Rotating
in CCW direction
Default setting is shown by [
Operation of speed loop
PI operation
P operation
Default setting is shown by [
IWhen Motor is Rotating
in CW direction
]
]