Panasonic MINAS A6 Series Operating Instructions Manual page 327

4. Manual Gain Tuning (Basic)
Gain Switching Function
Setup of Gain Switching Condition
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
Setup of gain switching condition
Switching condition to
Pr1.15
2nd gain
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input
3 Torque command
4 Invalid (Fixed to 1st gain)
5 Speed command
6 Position deviation
7 Position command exists.
8 Not in positioning complete
9 Speed
10 Command exists + velocity
• Velocity control mode
Setup of gain switching condition
Switching condition to
Pr1.20
2nd gain
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input
3 Torque command
Variation of speed command is
4
large.
5 Speed command
• Torque control mode
Setup of gain switching condition
Switching condition to
Pr1.24
2nd gain
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input, GAIN ON
Variation of torque command is
3
large.
*1 Delay time (Pr1.16, 1.12 and 1.25) will be valid only when returning from 2nd to 1st
gain.
*2 Hysteresis (Pr1.18, 1.23 and 1.27) is defined as the fig. below shows.
*3 Designate with either the encoder resolution or the external scale resolution depend-
ing on the control mode.
*4 When you make it a condition that
there is speed variation of 10 r/min in
1s, set up the value to 1.
*5 When Pr1.15=10, the meanings of
delay time, level and hysteresis are
different from the normal. (refer to Fig. G)
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Setup parameters at position control, full-closed control
*1
Delay time
Fig.
Pr1.16
–
–
–
A
–
C
D
E
F
C
G
Setup parameters at velocity control mode
*1
Delay time
Fig.
Pr1.16, 1.21
–
–
–
A
B –
C
Setup parameters at torque control mode
*1
Delay time
Fig.
Pr1.16, 1.25
–
–
–
A
(Pr1.18, 1.23, 1.27)
Level Hysteresis
Pr1.17 Pr1.18
–
–
–
[%]
–
[r/min]
*3
[pulse]
–
–
[r/min]
*5
[r/min]
Level Hysteresis
Pr1.17, 1.22 Pr1.18, 1.23
–
–
–
[%] [%]
*4 *4
[10(r/min)/s]
[r/min] [r/min]
Level Hysteresis
Pr1.17, 1.26 Pr1.18, 1.27
–
–
–
[%]
Hysteresis
Level
( )
Pr1.17
Pr1.22
Pr1.26
0
1
2
*2
–
–
–
[%]
–
3
[r/min]
*3
[pulse]
–
–
[r/min]
*5
[r/min]
4
*2
–
–
–
[10(r/min)/s]
5
*2
–
–
6
–
[%]
7
H
L
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