Panasonic MINAS A5-series Operating Instructions Manual page 183

1. Details of parameter
[Class 1] Gain adjustment
Title
Pr1.15
Range
Set up the triggering condition of gain switching for position control.
Setup Switching
value condition
0
Fixed to 1st gain
1 Fixed to 2nd gain
With gain
2
switching input
Torque
3 command is
large
Variation
of speed
4
command is
large
Speed
5 command is
large
Position
6 deviation is
large
Position
7 command
exists
Not in
8 positioning
complete
Actual speed is
9
large
Position
command
10
exists +
Actual speed
Note • For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-30... "Inputs and outputs on connector X4"
Mode of position control switching
0 to 10
Fixed to the 1st gain (Pr1.00 to Pr1.04).
Fixed to the 2nd gain (Pr1.05 to Pr1.09).
• 1st gain when the gain switching input (GAIN) is open.
• 2nd gain when the gain switching input (GAIN) is connected to COM-.
* If no input signal is allocated to the gain switching input (GAIN), the 1st gain is fixed.
• Shift to the 2nd gain when the absolute value of the torque command exceeded (level +
hysteresis) (%) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the torque command was kept below (level
- hysteresis) (%) previously during delay time with the 2nd gain.
• Valid only during velocity control.
• Shift to the 2nd gain when the absolute value of the speed command variations exceeded
(level + hysteresis) (10r/min/s) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the speed command variations was kept
below (level - hysteresis) (10r/min/s) during delay time previously with the 2nd gain.
* The 1st gain is fixed while the velocity control is not applied.
• Valid for position, velocity and full-closed controls.
• Shift to the 2nd gain when the absolute value of the speed command exceeded (level +
hysteresis) (r/min) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the speed command was kept below (level
- hysteresis) (r/min) previously during delay time with the 2nd gain.
• Valid for position and full-closed controls.
• Shift to the 2nd gain when the absolute value of the positional deviation exceeded (level +
hysteresis) (pulse) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the positional deviation was kept below
(level - hysteresis) (pulse) previously over delay time with the 2nd gain.
* Unit of level and hysteresis (pulse) is set as the encoder resolution for positional control
and feedback scale resolution for full-closed control.
• Valid for position and full-closed controls.
• Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain.
• Return to the 1st gain when the positional command was kept 0 previously during delay
time with the 2nd gain.
• Valid for position and full-closed controls.
• Shift to the 2nd gain when the positioning was not completed previously with the 1st gain.
• Return to the 1st gain when the positioning was kept in completed condition previously
during delay time with the 2nd gain.
• Valid for position and full-closed controls.
• Shift to the 2nd gain when the absolute value of the actual speed exceeded (level +
hysteresis) (r/min) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the actual speed was kept below (level -
hysteresis) (r/min) previously during delay time with the 2nd gain.
• Valid for position and full-closed controls.
• Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain.
• Return to the 1st gain when the positional command was kept at 0 during the delay
time and the absolute value of actual speed was kept below (level - hysteresis ) (r/min)
previously with the 2nd gain.
control mode
—
Unit
Gain switching condition
Related
P S T F
0
Default
4-15
1
2
3
4
5
6
7