Panasonic Minas A4 Series - Parameters for Adjustment (2 Nd Gain Switching Function)

179
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
25 0 to 7
<0>
–Setup of an action
at normal mode
auto-gain tuning
You can set up the action pattern at the normal mode auto-gain tuning. 









e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
Setup value
<0>
1
2
3
4
5
6
7
Number of revolution

2 [revolution]



1 [revolution]
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
2A 0 to 99
<0>
–Selection of 
2nd notch depth
You can set up the 2nd notch depth of the resonance suppressing filter. Higher
the setup, shallower the notch depth and smaller the phase delay you can obtain.
28 100 to 1500
<1500>
Hz2nd notch
frequency
You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
29 0 to 4
<2>
–Selection of 
2nd notch width
You can set up the notch width of 2nd resonance suppressing filter in 5
steps. Higher the setup, larger the notch width you can obtain.

Use with default setup in normal operation.
Parameters for Adjustment (2nd Gain Switching Function)
30 0 to 1
<1>*
–Setup of 2nd gain You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
Setup value
0
<1>*
Gain selection/switching
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–

Action of velocity loop
PI action
P action
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
31 0 to 10
<0>*
–1st mode of 
control switching
You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*, 4 to 10
1
2
3

Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of 
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
*2
*1
<Notes>
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.