3Rd Gain Switching Function - Panasonic MINAS-A5BL Series Manual

5-2-10 3rd gain switching function

In addition to the normal gain switching function described on 5-2-4, 3rd gain switching function can be set to
increase the gain just before stopping. The higher gain shortens positioning adjusting time.
(1) Applicable Range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
(2) Parameters
At-
Class No. trib-
ute *1)
Position 3rd gain
6 05 B
valid time
Position 3rd gain
6 06 B
scale factor
*1) For parameter attribute, refer to Section 9-1.
(3) How to use
While in the condition under which the normal gain switching functions, set the 3rd gain application time to
Pr 6.05 Position 3rd gain enable time, and set the 3rd gain (scale factor with reference to 1st gain) to Pr 6.06
Position 3rd gain magnification ratio.
• If 3rd gain is not used, set Pr 6.05 to 0 and Pr 6.06 to 100.
• The 3rd gain is enabled only for position control.
• During the 3rd gain period, only position loop gain/velocity loop gain becomes 3rd gain, during other periods,
1st gain setting is used.
• When the 2nd gain switching condition is established during 3rd gain period, 2nd gain is used.
• During transition from 2nd gain to 3rd gain, Pr 1.19 Position gain switching time is applied.
• Even if the gain is changed from 2nd to the 1st due to parameter change, the 3rd gain period is inserted
between them.
Example:
Pr 1.15 Mode of position control switching = 7 switching condition: with positional command:
Position velocity command [r/min]
2nd gain
Pr 1.05–1.09
R1.00
Conditions under which the 3rd gain switching function is activated
• Control mode to be position control
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring that the
motor can operate normally.
Title Range
0–10000
50–1000
Unit
Set up the time at which 3rd gain becomes valid.
0.1 ms
Set up the 3rd gain by a multiplying factor of the 1st gain:
%
3rd gain = 1st gain × Pr 6.06/100
Pr 6.05 × 0.1ms
3rd gain 1st gain
Pr 1.00–1.04
[3rd gain period]
Position loop gain = Pr1.00 × Pr6.06/100
Velocity loop gain = Pr1.01 × Pr6.06/100
Velocity loop integration time constant, velocity detection
filter and torque filter time constant directly use the 1st
gain value.
No. SX-DSV02829 -
Function
Motor Business Unit, Panasonic Corporation
114-