Panasonic MINAS A6 Series - Page 224

4-22
Pr1.23
Hysteresisatvelocitycontrolswitching
Range Unit Default
Related
control mode
0 to 20000
Mode-
dependent
0 S
Caution
Forvelocitycontrolling:SetuptriggeringhysteresiswhenPr1.20Velocitycontrolgain
switchingmodeissetat3,4or5.
Unitofsettingvarieswithswitchingmode.
Whenlevel<hysteresis,thehysteresisisinternallyadjustedsothatitisequaltolevel.
Pr1.24
Modeoftorquecontrolswitching
Range Unit Default
Related
control mode
0 to 3 — 0 T
Fortorque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.
Pr1.25
Delaytimeoftorquecontrolswitching
Range Unit Default
Related
control mode
0 to 10000 0.1 ms 0 T
Fortorquecontrolling:Whenshiftingfromthe2ndgaintothe1stgainwithPr1.24Torque
controlswitchingmodesetat3,setupthedelaytimefromtriggerdetectiontotheswitching
operation.
Pr1.26
Leveloftorquecontrolswitching
Range Unit Default
Related
control mode
0 to 20000
Mode-
dependent
0 T
Caution
Fortorquecontrolling:SetuptriggeringlevelwhenPr1.24Torquecontrolgainswitching
mode is set at 3.
Unitvariesdependingonthesetupofmodeofcontrolswitching.
Setthelevelequaltoorhigherthanthehysteresis.
Pr1.27
Hysteresisattorquecontrolswitching
Range Unit Default
Related
control mode
0 to 20000
Mode-
dependent
0 T
Caution
Fortorquecontrolling:SetuptriggeringhysteresiswhenPr1.24Torquecontrolgain
switchingmodeissetat3.
Unitofsettingvarieswithswitchingmode.
Whenlevel<hysteresis,thehysteresisisinternallyadjustedsothatitisequaltolevel.
From Pr1.28 toPr1.78 are all parameters for manufacturer's use.Please do not change the default parameters.
1. Details of parameter
[Class 1] Gain adjustment
Default:[]
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