Panasonic MINAS A6 Series - Page 222

4-20
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”
Pr1.17
Levelofpositioncontrolswitching
Range Unit Default
Related
control mode
0 to 20000
Mode-
dependent
0 P F
Caution
Forpositioncontrolling:SetuptriggeringlevelwhenPr1.15Positioncontrolswitchingmode
issetat3,5,6,9or10.
Unitofsettingvarieswithswitchingmode.
Setthelevelequaltoorhigherthanthehysteresis.
Pr1.18
Hysteresisatpositioncontrolswitching
Range Unit Default
Related
control mode
0 to 20000
Mode-
dependent
0 P F
Caution
Forpositioncontrolling:SetuptriggeringhysteresiswhenPr1.15Positioncontrolswitching
modeissetat3,5,6,9or10.
Unitofsettingvarieswithswitchingmode.
Whenlevel<hysteresis,thehysteresisisinternallyadjustedsothatitisequaltolevel.
Pr1.19
Positiongainswitchingtime
Range Unit Default
Related
control mode
0 to 10000 0.1 ms 10 P F
Caution
Forpositioncontrolling:IfthedifferencebetweenPr1.001stgainofpositionloopandPr1.05
2ndgainofpoisonloopislarge,theincreasingrateofpositionloopgaincanbelimitedby
this parameter.
Thepositionloopgainwillincreaseoverthetimeset.
<Positiongainswitchingtime>
Whenusingpositioncontrolandfull-closedcontrol,gainofpositionlooprapidlychanges,
causingtorquechangeandvibration.ByadjustingPr1.19Positiongainswitchingtime,
increasingrateofthepoisonloopgaincanbedecreasedandvibrationlevelcanbereduced.
Settingofthisparameterdoesnotaffectthegainswitchingtimewhenthegainofposition
loopisswitchedtolowerlevel(gainisswitchedimmediately).
Example:1st(Pr1.00)>2nd(Pr1.05)
2nd 1st1st
Result of
switching
1st (Pr1.00)
2nd (Pr1.05)
Position gain
switching time (ms)
(Pr1.19)
1. Details of parameter
[Class 1] Gain adjustment
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