Panasonic MINAS S Series Operating Manual page 162

Gain Switching Conditions
Position Control Mode
Åú
Gain switching conditions
P r 3 1 Switching conditions
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input, 2nd
gain selected with
GAIN On
3 2nd gain selected with a
large torque command
differential
4 Fixed to 1st gain
5 Large target velocity
commanded
6 Large position error
7 Position command existing
8 Positioning incomplete
*1Delay time (parameters Pr32) becomes effective when returning from 2nd gain to 1st gain.
*2 For the definitions of hysteresis parameters
*3 When conditions are that torque fluctuation of
10% was experienced in the 166 É s area, set up
the value 200.
10%/166 É s = Set-up value [200] x (0.05%/166 µs )
*4 Resolution of encoder
· Figures A through E are shown in the next page.
( : the parameter valid, -: invalid)
Delay time
Figure
A
B
C
D
E
(Pr34), see the right figure.
Hysteresis
-
App.
Parameters for position control
Åñ1 Level
Pr32 Pr33
----- -----
----- -----
----- -----
* 3
(0.05%/166 µ s
)
----- -----
(r/min)
*4
(pulse)
-----
-----
Level
(Pr33.38.3C)
0
65 -
Hysteresis Åñ2
Pr34
-----
-----
-----
* 3
(0.05%/166 µ s )
-----
(r/min)
*4
(pulse)
-----
-----
H
L