Panasonic minas a series Operating Manual page 123

Details of Parameters
PrNo. P a r a m e t e r R a n g e
d e s c r i p t i o n
3 6
Volocity control
switching mode
Value
0
1
2
3
4
5
3 7
Velocity control
switching delay time
3 8
Velocity control
switching level
3 9
Velocity control
switching hysteresis
3 A Torque control
switching mode
Value
0
1
2
3
3 B
Torque control
switching delay time
3 C
Torque control
switching level
3 D Torque control
switching hysteresis
U n i t
0 ~ 5 –––
• You can select the conditions for switching between the 1st and
[0]
2nd gains at position control.
• Pr36 is same as Pr31(Position control switching mode) except
for the position control portion.
Fixed to the 1nd gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON (Pr30 must be set to 1)
2nd gain selection with a large torque command change
2nd gain selection with a large velocity command change (acceleration)
2nd gain selection with a large velocity command
0~100000 x 166 µs
• Same as
Pr32 (switching delay time),
[0]
Pr33 (switching level) and
0~100000 ––
Pr34 (switching hysteresis) for position control.
[0]
0~100000 ––
[0]
0 ~ 3 –– • You can select the conditions for switching between the 1st and
2nd gains at torque control.
[0]
• Pr3A is same as Pr31 except position control and velocity con-
trol portion.
Fixed to the 1nd gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON (Pr30 must be set to 1)
2nd gain selection with a large torque command change
0 0~100000 x 166 µs
• Same as
[0]
0~100000 ––
[0]
0~100000 ––
[0]
- App. 42 -
F u n c t i o n
Gain switching
Gain switching
Pr32 (switching delay time),
Pr33 (switching level) and
Pr34 (switching hysteresis) for position control.