Panasonic MINAS A4P Series Instruction Manual page 63

Servo
Title
PrNo.
26 Software limit set
up
2F Adaptive filter
frequency
Parameters for Adjustment (2nd Gain Switching Function)
Servo
Title
PrNo.
30 2nd gain action set
up
31 1st control
switching mode
32 1st control
switching delay
time
33 1st control
switching level
<Notes>
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.
Setup
Unit
range
You can set up the movable range of the motor against the position
0 to 1000 0.1
command input range. When the motor movement exceeds the setup
<10> revolution
value, software limit protection of Err.34 will be triggered. This parameter
is invalid with setup value of 0.
Displays the table No. corresponding to the adaptive filter frequency.
0 to 64 –
(Refer to P.147 of Adjustment.) This parameter will be automatically set
<0>
and cannot be changed while the adaptive filter is valid. (when SV.Pr23
(Adaptive filter mode) is other than 0.)
Setup value
<0> to 4
5 to 48
49 to 64
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 (SV.Pr23, "Adaptive
filter mode" to 0) once, then validate again.
Refer to P.151,
Adjustment as well.
Setup
Unit
range
0 to 1 – Set when performing optimum tuning using the gain switching function.
<1>*
Setup value
0
<1>*
0 to 10 – Set a trigger to switch a gain.
<10>*
Setup value
<10>*
*1 For the switching level and the timing, refer to P.155, "Gain Switching
Function" of Adjustment.
0 to 10000 x 166µs Set a time from the detection of trigger to actual gain switching when the
<30>* 2nd gain is switched into the 1st gain, if SV.Pr31 (1st control switching
mode) is between 3 and 10.
0 to 20000 – You can set up the switching (judging) level of the 1st and the 2nd gains,
<50>* while SV.Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of SV.Pr31 (1st control switching mode)
Function/Content
Filter is invalid.
Filter is valid.
Filter validity changes according to SV.Pr22.
"Release of Automatic Gain Adjusting Function" of
Function/Content
Gain selection/switching
1st gain (SV.Pr10 to 14)
1st (SV.Pr10 to 14) / 2nd gain (SV.Pr18 to 1C)
Gain switching condition
0
Fixed to the 1st gain.
1 Fixed to the 2nd gain.
2 Unavailable
3 Toque command variation
4 Speed command variation
*1
5 *1 Speed command
6 Positional deviation
*1
7
*1 Positional command
8 Positioning is not completed
*1
9
*1 Speed
*1 Position command + speed
*1
[Setting]
Standard default : < >
Filter mode
Standard default : < >
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