Parameters For Adjustment (2Nd Gain Switching Function) - Panasonic minas a4 series Instruction Manual

PrNo. Title
2F Adaptive filter
frequency

Parameters for Adjustment (2nd Gain Switching Function)

PrNo. Title
30 Setup of 2nd gain
31 1st mode of
control switching
Setup value
<0>*, 6 to 10
1
2
*1
*2
3
4 *2
*2
5
[Connection and setup of velocity control mode]
Setup
Unit
range
Displays the table No. corresponding to the adaptive filter frequency.
0 to 64 –
(Refer to P.234 of Adjustment.) This parameter will be automatically set
<0>
and cannot be changed while the adaptive filter is valid. (when Pr23
(Setup of adaptive filter mode) is other than 0.)
0 to 4
5 to 48 Filter is valid.
49 to 64 Filter validity changes according to Pr22.
This parameter will be saved to EEPROM every 30 minutes while the
adaptive filter is valid, and when the adaptive filter is valid at the next
power-on, the adaptive action starts taking the saved data in EEPROM as
an initial value.
<Caution>
When you need to clear this parameter to reset the adaptive action while
the action is not normal, invalidate the adaptive filter (Pr23, "Setup of
adaptive filter mode" to 0) once, then validate again.
Refer to P.239,
Adjustment as well.
Setup
Unit
range
0 to 1 – You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
<1>*
Setup value
<1>*
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
0 to 10 – You can select the switching condition of 1st gain and 2nd gain while Pr30
<0>* is set to 1.
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching).
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Function/Content
Filter is invalid.
"Release of Automatic Gain Adjusting Function" of
Function/Content
Gain selection/switching
0 1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Gain switching condition
Standard default : < >
Standard default : < >
Action of velocity loop
PI action
P action
149