Panasonic MINAS A5-series Operating Instructions Manual page 185

1. Details of parameter
[Class 1] Gain adjustment
Title
Pr1.20
Range
For velocity controlling: Set the condition to trigger gain switching.
Setup value
0
1
2
3
4
5
Related page For the switching level and timing, refer to P.5-18, "Setup of Gain Switching Condition" of
Adjustment.
Title
Pr1.21
Range
For velocity controlling: When shifting from the 2nd gain to the 1st gain with Pr1.20 Velocity
control switching mode set at 3, 4 or 5, set the delay time from trigger detection to the
switching operation.
Title
Pr1.22
Range
For velocity controlling: Set up triggering level when Pr1.20 Velocity control gain switching
mode is set at 3, 4 or 5.
Unit of setting varies with switching mode.
Caution
Set the level equal to or higher than the hysteresis.
Title
Pr1.23
Range
For velocity controlling: Set up triggering hysteresis when Pr1.20 Velocity control gain
switching mode is set at 3, 4 or 5.
Caution
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.
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 velocity control switching
0 to 5
Switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
Gain switching input
Torque command
Speed command variation is larger.
Command speed is larger
Delay time of velocity control switching
0 to 10000
Level of velocity control switching
0 to 20000
Hysteresis at velocity control switching
0 to 20000
Related
control mode
—
Unit Default
Related
control mode
0.1ms
Unit Default
Related
control mode
Mode-
Unit Default
dependent
Related
control mode
Mode-
Unit Default
dependent
1
P S T F
0
2
3
P S T F
0
4
P S T F
0
5
P S T F
0
6
7
4-17