Panasonic MINAS A6 Series - Page 221

4-19
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•ForparameterswhichNo.haveasuffixof“
*
”,changedcontentswillbevalidated
whenyouturnonthecontrolpower.
•P.3-32...“InputsandoutputsonconnectorX4”
Default: [ ]
Pr1.15
Modeofpositioncontrolswitching
Range Unit Default
Related
control mode
0 to 10 — 0 P F
Setup
value
Switching
condition
Gainswitchingcondition
[0]
Fixedto1stgain Fixedtothe1stgain(Pr1.00toPr1.04).
1
Fixedto2ndgain Fixedtothe2ndgain(Pr1.05toPr1.09).
2
With gain
switchinginput
•1stgainwhenthegainswitchinginput(GAIN)isopen.
•2ndgainwhenthegainswitchinginput(GAIN)isconnectedtoCOM-.
*
Ifnoinputsignalisallocatedtothegainswitchinginput(GAIN),the1stgainisxed.
3
Torque
command is
large
•Shifttothe2ndgainwhentheabsolutevalueofthetorquecommandexceeded(level+
hysteresis)(%)previouslywiththe1stgain.
•Returntothe1stgainwhentheabsolutevalueofthetorquecommandwaskeptbelow(level
-hysteresis)(%)previouslyduringdelaytimewiththe2ndgain.
5
Speed
command is
large
•Validforpositionandfull-closedcontrols.
•Shifttothe2ndgainwhentheabsolutevalueofthespeedcommandexceeded(level+
hysteresis)(r/min)previouslywiththe1stgain.
•Returntothe1stgainwhentheabsolutevalueofthespeedcommandwaskeptbelow(level
-hysteresis)(r/min)previouslyduringdelaytimewiththe2ndgain.
6
Position
deviationis
large
•Validforpositionandfull-closedcontrols.
•Shifttothe2ndgainwhentheabsolutevalueofthepositionaldeviationexceeded(level+
hysteresis)(pulse)previouslywiththe1stgain.
•Returntothe1stgainwhentheabsolutevalueofthepositionaldeviationwaskeptbelow
(level-hysteresis)(pulse)previouslyoverdelaytimewiththe2ndgain.
*
Unitoflevelandhysteresis(pulse)issetastheencoderresolutionforpositionalcontrol
andexternalscaleresolutionforfull-closedcontrol.
7
Position
command
exists
•Validforpositionandfull-closedcontrols.
•Shifttothe2ndgainwhenthepositionalcommandwasnot0previouslywiththe1stgain.
•Returntothe1stgainwhenthepositionalcommandwaskept0previouslyduringdelay
timewiththe2ndgain.
8
Notin
positioning
complete
•Validforpositionandfull-closedcontrols.
•Shifttothe2ndgainwhenthepositioningwasnotcompletedpreviouslywiththe1stgain.
•Returntothe1stgainwhenthepositioningwaskeptincompletedconditionpreviously
duringdelaytimewiththe2ndgain.
9
Actualspeedis
large
•Validforpositionandfull-closedcontrols.
•Shifttothe2ndgainwhentheabsolutevalueoftheactualspeedexceeded(level+
hysteresis)(r/min)previouslywiththe1stgain.
•Returntothe1stgainwhentheabsolutevalueoftheactualspeedwaskeptbelow(level-
hysteresis)(r/min)previouslyduringdelaytimewiththe2ndgain.
10
Position
command
exists+
Actualspeed
•Validforpositionandfull-closedcontrols.
•Shifttothe2ndgainwhenthepositionalcommandwasnot0previouslywiththe1stgain.
•Returntothe1stgainwhenthepositionalcommandwaskeptat0duringthedelay
timeandtheabsolutevalueofactualspeedwaskeptbelow(level-hysteresis)(r/min)
previouslywiththe2ndgain.
Setupthetriggeringconditionofgainswitchingforpositioncontrol.
Pr1.16
Delaytimeofpositioncontrolswitching
Range Unit Default
Related
control mode
0 to 10000 0.1 ms 10 P F
Forpositioncontrolling:Whenshiftingfromthe2ndgaintothe1stgainwithPr1.15Position
controlswitchingmodesetat3,5,6,7,8,9or10,setupthedelaytimefromtrigger
detectiontotheswitchingoperation.
1. Details of parameter
[Class 1] Gain adjustment
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