Panasonic MINAS-BL KP Series Reference Specifications page 30

8.3 Gain switching function
You can switch the gain parameter automatically while the motor is in run-command and is at standstill.
During the automatic gain switching (Pr36 = 2), the 2nd gain is applied while the motor is in run command, and the 1st
gain is applied while the motor is at standstill.
With this gain switching function, you can change the holding torque at the motor standstill by setting different values of
torque limit between 1st and 2nd gain.
Parameter name
Position loop gain
Velocity loop gain
Velocity loop integration gain
Velocity feed forward
Speed detection filter
Velocity feed forward time constant
Torque limit
Gain switching mode selection
Gain switching time
Operation is as follows when Pr36 is "2".
Commanded
Speed
Gain The 1st gain
Note) It is not allowed to set switching time in changing from the 1st gain to the 2nd gain in the start of operation.
Parameter number
The 2nd gain
The 1st gain
(during instruc-
(when stopped)
tion)
28 30
Determines the response of position control.
29 31
Determines the response of velocity loop.
2A 32
Determines the rigidity of velocity loop.
Function to forward (add) position instruction to com-
2b 33
manded speed
Sets the time constant of low-pass filter of speed
2C 34
feedback.
2d
Filter in velocity feed forward
2E 35
Limits the output torque reference.
0: The 1st gain fixed, 1: The 2nd gain fixed, 2: Auto-
36
matic switching
Changes to the 1st gain in the time set by parame-
37
ter after command output is completed. Unit [ms].
Actual speed
The 2nd gain
№ SX-DCT00221 -27-
Supplement
The 1st gain
Pr37
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