Panasonic minas a series - Details of Parameters; Velocity control switching mode; Velocity control switching delay time; Torque control switching mode

- App. 42 -
PrNo.
Parameter
Range Unit Function
description
• You can select the conditions for switching between the 1st and
2nd gains at position control.
• Pr36 is same as Pr31(Position control switching mode) except
for the position control portion.
• Same as
Pr32 (switching delay time),
Pr33 (switching level) and
Pr34 (switching hysteresis) for position control.
• You can select the conditions for switching between the 1st and
2nd gains at torque control.
• Pr3A is same as Pr31 except position control and velocity con-
trol portion.
• Same as
Pr32 (switching delay time),
Pr33 (switching level) and
Pr34 (switching hysteresis) for position control.
36
37
38
39
3A
3B
3C
3D
Volocity control
switching mode
Velocity control
switching delay time
Velocity control
switching level
Velocity control
switching hysteresis
Torque control
switching mode
Torque control
switching delay time
Torque control
switching level
Torque control
switching hysteresis
0 ~ 5
[0]
0~100000
[0]
0~100000
[0]
0~100000
[0]
0 ~ 3
[0]
0 0~100000
[0]
0~100000
[0]
0~100000
[0]
–––
x 166 µs
––
––
––
x 166 µs
––
––
Details of Parameters
Value
0
1
2
3
4
5
Gain switching
Fixed to the 1nd gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON (Pr30 must be set to 1)
2nd gain selection with a large torque command change
2nd gain selection with a large velocity command change (acceleration)
2nd gain selection with a large velocity command
Value
0
1
2
3
Gain switching
Fixed to the 1nd gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON (Pr30 must be set to 1)
2nd gain selection with a large torque command change