Panasonic MINAS A5-series Operating Instructions Manual page 184

1. Details of parameter
[Class 1] Gain adjustment
Title
Pr1.16
Range
For position controlling : When shifting from the 2nd gain to the 1st gain with Pr1.15 Position
control switching mode set at 3, 5, 6, 7, 8, 9 or 10, set up the delay time from trigger
detection to the switching operation.
Title
Pr1.17
Range
For position controlling: Set up triggering level when Pr1.15 Position control gain switching
mode is set at 3, 5, 6, 9 or 10.
Unit of setting varies with switching mode.
Caution
Set the level equal to or higher than the hysteresis.
Title
Pr1.18
Range
For position controlling: Set up triggering hysteresis when Pr1.15 Position control gain
switching mode is set at 3, 5, 6, 9 or 10.
Unit of setting varies with switching mode.
Caution
When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.
Title
Pr1.19
Range
For position controlling: If the difference between Pr1.00 1st gain of position loop and Pr1.05
2nd gain of poison loop is large, the increasing rate of position loop gain can be limited by
this parameter.
The position loop gain will increase over the time set.
<Position gain switching time>
When using position control and full-closed control, gain of position loop rapidly changes,
causing torque change and vibration. By adjusting Pr1.19 Position gain switching time,
increasing rate of the poison loop gain can be decreased and vibration level can be reduced.
Caution
Setting of this parameter does not affect the gain switching time when the gain of position
loop is switched to lower level (gain is switched immediately).
Example: 1st (Pr1.00) > 2nd (Pr1.05)
4-16
Delay time of position control switching
0 to 10000
Level of position control switching
0 to 20000
Hysteresis at position control switching
0 to 20000
Position gain switching time
0 to 10000
2nd (Pr1.05)
1st (Pr1.00)
Result of
1st
switching
control mode
0.1ms
Unit
control mode
Mode-
Unit
dependent
control mode
Mode-
Unit
dependent
control mode
Mode-
Unit
dependent
Position gain
switching time (ms)
(Pr1.19)
2nd
Related
P S T
50
Default
Related
P S T
50
Default
Related
P S T
33
Default
Related
P S T
33
Default
1st
F
F
F
F