Panasonic MINAS A6 Series - Page 327

5-35
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Setup of Gain Switching Condition
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
Setup of gain switching condition
Setup parameters at position control, full-closed control
Delay time
*
1
Level Hysteresis
*
2
Pr1.15
Switching condition to
2nd gain
Fig.
Pr1.16 Pr1.17 Pr1.18
0 Fixed to 1st gain – – –
1 Fixed to 2nd gain – – –
2 Gain switching input – – –
3 Torque command A
[%] [%]
4 Invalid (Fixed to 1st gain) – – –
5 Speed command C
[r/min] [r/min]
6 Position deviation D
*
3
[pulse]
*
3
[pulse]
7 Position command exists. E
– –
8 Not in positioning complete F
– –
9 Speed C
[r/min] [r/min]
10 Command exists + velocity G
[r/min]
*
5
[r/min]
*
5
• Velocity control mode
Setup of gain switching condition
Setup parameters at velocity control mode
Delay time
*
1
Level Hysteresis
*
2
Pr1.20
Switching condition to
2nd gain
Fig.
Pr1.16, 1.21 Pr1.17, 1.22 Pr1.18, 1.23
0 Fixed to 1st gain – – –
1 Fixed to 2nd gain – – –
2 Gain switching input – – –
3 Torque command A
[%] [%]
4
Variation of speed command is
large.
B –
*
4
[10(r/min)/s]
*
4
[10(r/min)/s]
5 Speed command C
[r/min] [r/min]
• Torque control mode
Setup of gain switching condition
Setup parameters at torque control mode
Delay time
*
1
Level Hysteresis
*
2
Pr1.24
Switching condition to
2nd gain
Fig.
Pr1.16, 1.25 Pr1.17, 1.26 Pr1.18, 1.27
0 Fixed to 1st gain – – –
1 Fixed to 2nd gain – – –
2 Gain switching input,
GAIN ON – – –
3
Variation of torque command is
large.
A
[%] [%]
4. Manual Gain Tuning (Basic)
Gain Switching Function
Hysteresis
(Pr1.18, 1.23, 1.27)
Level
Pr1.17
Pr1.22
(
Pr1.26
)
0
H
L
*
1 Delay time (Pr1.16, 1.12 and 1.25) will be valid only when returning from 2nd to 1st
gain.
*
2 Hysteresis (Pr1.18, 1.23 and 1.27) is dened as the g. below shows.
*
3 Designate with either the encoder resolution or the external scale resolution depend-
ing on the control mode.
*
4 When you make it a condition that
there is speed variation of 10 r/min in
1s, set up the value to 1.
*
5 When Pr1.15=10, the meanings of
delay time, level and hysteresis are
different from the normal. (refer to Fig. G)
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