Panasonic MINAS A5-series Operating Instructions Manual page 248

4. Manual Gain Tuning (Basic)
Gain Switching Function
Setup of Gain Switching Condition
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
Setup of gain switching condition
Switching condition to
Pr1.15
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input
3 Torque command
4 Invalid (Fixed to 1st gain)
5 Speed command
6 Position deviation
7 Position command exists.
8 Not in positioning complete
9 Speed
10 Command exists + velocity
• Velocity control mode
Setup of gain switching condition
Switching condition to
Pr1.20
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input
3 Torque command
Variation of speed command is
4
large.
5 Speed command
• Torque control mode
Setup of gain switching condition
Switching condition to
Pr1.24
0 Fixed to 1st gain
1 Fixed to 2nd gain
2 Gain switching input, GAIN ON
Variation of torque command is
3
large.
*1 Delay time (Pr1.16, 1.12 and 1.25) will be valid only when returning from 2nd to 1st
gain.
*2 Hysteresis (Pr1.18, 1.23 and 1.27) is defined as the fig. below shows.
*3 Designate with either the encoder resolution or the external scale resolution depend-
ing on the control mode.
*4 When you make it a condition that there
is speed variation of 10r/min in 1s, set
up the value to 1.
*5 When Pr1.15=10, the meanings of de-
lay time, level and hysteresis are differ-
ent from the normal. (refer to Fig. G)
5-18
Fig.
2nd gain
A
C
D
E
F
C
G
Fig.
2nd gain
A
B
C
Fig.
2nd gain
A
Setup parameters at position control, full-closed control
Delay time Level
*1
Pr1.16 Pr1.17
–
–
–
–
Setup parameters at velocity control mode
Delay time *1 Level
Pr1.16, 1.21 Pr1.17, 1.22
–
–
–
[%]
– *4
[r/min]
Setup parameters at torque control mode
Delay time *1 Level
Pr1.16, 1.25 Pr1.17, 1.26
–
–
–
Hysteresis
(Pr1.18, 1.23, 1.27)
(
Hysteresis
Pr1.18
– –
– –
– –
[%] [%]
– –
[r/min] [r/min]
[pulse] [pulse]
*3 *3
– –
– –
[r/min] [r/min]
[r/min] *5 [r/min]
Hysteresis
Pr1.18, 1.23
– –
– –
– –
[%]
[10(r/min)/s] *4 [10(r/min)/s]
[r/min]
Hysteresis
Pr1.18, 1.27
– –
– –
– –
[%] [%]
Level
)
Pr1.17
Pr1.22
Pr1.26
0
*2
*5
*2
*2
H
L