Panasonic Minas A4 Series - Page 247

245
[Adjustment]
Adjustment
<Caution>
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (Pr34 and 39).
speed N
Fig.A
torque T
level
delay
∆T
∆
S
1st gain 22 1221

1


1

command 
speed S
Fig. B
level
delay
1st gain 2nd1st 2nd 1st
motor speed or 
commanded 
speed
Fig. C
level
delay
2nd gain1st 1st
speed N
deviation pulse
Fig. D
level
delay
2nd gain1st 1st
Fig. E
delay
2nd gain1st 1st
speed N
Fig. F
Fig. G
delay
2nd gain1st
COIN
1st
at stall
no command pulse 
x Pr32,delay time
| actual speed | < 
Pr33 level
| actual speed | < (Pr33 level - Pr34 hysteresis)
| actual speed | < (Pr33 level - Pr34 hysteresis)
1st gain
in action
2nd gain
at settling
2nd gain
proximity of stall
2nd gain for velocity integrating 
only and 1st gain for others
command 
speed S
command pulse 
exists.