Panasonic MINAS A3 Series Parameters for Switching to 2nd Gains, Parameters for Position Control

Parameter Setting

Parameters for Switching to 2nd Gains

								Default setting is shown by [ ]
Parameter	Parameter Name	Setting	Unit				Function/Description
No.		range
30	2nd gain action	0 – 1	–	• The parameter selects switching of PI/P operation and the 1st/2nd gain
	set up				switching.
					Setting value		Gain Selection/Switching
					0		The 1st Gain (Possible to switch PI/P) *1
					[1]*		Possible to switch the 1st/2nd gain *2
				*1 Switching of 1 PI/P operation is done through gain switching input
					(GAIN CN X5 27-pin).
							GAIN input	Operation of speed loop
						Open with COM–		PI operation
						Connect to COM–.		P operation
				*2 For conditions of switching between the 1st and 2nd gains, refer to
					“Adjustment upon switching gain” of Adjustment volume on page 202.
3A	Torque control	0 – 3	–	• The parameter selects conditions for switching between the 1st and 2nd
	switching mode				gains in torque control mode.
				• This is same as Pr31 except parts related to position and speed control.
					Setting value		Conditions for Switching Gains
					[0]*		Fixed to the 1st gain.
					1		Fixed to the 2nd gain.
					2		With the gain switching input (GAIN) turned ON, 2nd gain is
							selected. (Pr30 should be set to 1.)
					3	*1	With much variation of torque command, the 2nd gain is
							selected.
				*1 For details on levels to be switched, refer to “Adjustment upon switching
					gain” of Adjustment volume on page 202.
3B	Torque control	0 – 10000	x 166∝s	• This is same as content of:
	switching delay time	[0]			Pr32: Switching delay time
3C	Torque control	0 – 20000	–		Pr33: Switching level
	switching level	[0]			Pr34: Hysteresis at switching”
3D	Torque control	0 – 20000	–		in position control mode.
	switching hysteresis	[0]

Parameters for Position Control

							Default setting is shown by [ ]
Parameter	Parameter Name	Setting				Function/Description
No.		range
44	Output pulses per	1 – 16384	The parameter sets number of pulses per one revolution of encoder pulse to be out-
	single turn	[2500]	put to the host device. The pulse will be set in dividing.
			You should directly set in this parameter the number of pulses per revolution needed
			for your device/system in terms of [Pulse/rev].
45	Pulse output	0 – 1	In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
	logic inversion		behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
			ahead of phase A pulse, when the motor rotates in CCW direction.)
				Inversion of logic of phase B pulse with this parameter could invert a phase
				relation of phase B pulse to phase A pulse.
						IWhen Motor is Rotating	IWhen Motor is Rotating
				Setting value		in CCW direction	in CW direction
					A pulse(OA)
				[0]	B pulse(OB)
					Non-inverting
				1	B pulse(OB)
					Inverting

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