Panasonic MINAS A6 Series - Page 223

4-21
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: [ ]
Pr1.20
Modeofvelocitycontrolswitching
Range Unit Default
Related
control mode
0 to 5 — 0 S
Forvelocitycontrolling:Settheconditiontotriggergainswitching.
Setup value Switchingcondition
Gainswitchingcondition
[0] Fixedtothe1stgain.
Fixedtothe1stgain(Pr1.00toPr1.04).
1 Fixedtothe2ndgain.
Fixedtothe2ndgain(Pr1.05toPr1.09).
2 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
•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.
4
Speed command
variationislarger.
•Validonlyduringvelocitycontrol.
•Shifttothe2ndgainwhentheabsolutevalueofthespeed
commandvariationsexceeded(level+hysteresis)(10r/min/s)
previouslywiththe1stgain.
•Returntothe1stgainwhentheabsolutevalueofthespeed
commandvariationswaskeptbelow(level-hysteresis)
(10r/min/s)duringdelaytimepreviouslywiththe2ndgain.
*
The1stgainisxedwhilethevelocitycontrolisnotapplied.
5
Speed command
is large
•Validforvelocity 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.
Fortheswitchinglevelandtiming,refertoP.5-32,"SetupofGainSwitchingCondition"ofAdjustment.
Pr1.21
Delaytimeofvelocitycontrolswitching
Range Unit Default
Related
control mode
0 to 10000 0.1 ms 0 S
Forvelocitycontrolling:Whenshiftingfromthe2ndgaintothe1stgainwithPr1.20Velocity
controlswitchingmodesetat3,4or5,setthedelaytimefromtriggerdetectiontothe
switchingoperation.
Pr1.22
Levelofvelocitycontrolswitching
Range Unit Default
Related
control mode
0 to 20000
Mode-
dependent
0 S
Caution
Forvelocitycontrolling:SetuptriggeringlevelwhenPr1.20Velocitycontrolgainswitching
modeissetat3,4or5.
Unitofsettingvarieswithswitchingmode.
Setthelevelequaltoorhigherthanthehysteresis.
1. Details of parameter
[Class 1] Gain adjustment
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