Panasonic MINAS A6 Multi Series Technical Reference page 119

5.2Manual adjusting function
2. Set up the switching level and Hysteresis depending on the switching conditions.
3. Set up the switching delay time.
Set up the time delay for switching from 2nd gain to 1st gain.
Switching conditions have to be established continuously during the switching delay time for the
switching from the 2nd to the 1st.
4. Set up the switching time of position gain.
Switch the position loop gain gradually to avoid any trouble caused by a rapid change to a higher
gain, while the velocity loop gain, time constant of velocity loop integration, velocity detection filter
and time constant of torque filter can be switched instantaneously.
The gain switching flag changes immediately when switching from low gain.
Pr 1.19 (Position loop gain switching time) = 0
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Pr 1.19 (Position loop gain switching time) = 2
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