Panasonic minas a series - Specifications; Gain Switching Conditions

- App. 107 -
Appendixes
Specifications
Gain Switching Conditions
• Position Control Mode ( : the parameter valid, –: invalid)
• Velocity Control Mode
• Gain switching conditions
Pr3A
0
1
2
3
Torque Control Mode
Delay time
* 1
Pr3B
––
––
––
Level
Pr3C
––
––
––
Hysteresis
* 2
Pr3D
––
––
––
Gain switching conditions
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, 2nd gain
selected with GAIN On
2nd gain selected with a large
torque command differentia
l
Figure
A
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, 2nd gain
selected with GAIN On
2nd gain selected with a large
torque command differentia l
2nd gain selected with a large
speed command differential
Large speed command
Parameters for velocity control
Delay time
* 1
Pr37
––
––
––
Level
Pr38
––
––
––
Hysteresis
* 2
Pr39
––
––
––
Gain switching conditions
Pr36
0
1
2
3
4
5
Figure
A
B
C
Parameters for position control
Figure
A
C
D
E
F
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, 2nd gain
selected with GAIN On
2nd gain selected with a large
torque command differentia l
Fixed to 1st gain
Large target velocity commanded
Large position error
Position command existing
Positioning incomplete
Delay time
* 1
Pr32
––
––
––
––
Level
Pr33
––
––
––
––
––
––
Hysteresis
* 2
Pr34
––
––
––
––
––
––
Pr31
0
1
2
3
4
5
6
7
8
Gain switching conditions