Panasonic A4P Series Gain Switching Function, You want to increase the response by increas

Action Command speed

[Adjustment]

Gain Switching Function

At manual gain tuning, you can set 2nd gain
manually in addition to 1st gain and you can
switch the gain depending on the various re-
quirements of the action such cases as,	Status
• you want to increase the response by increas-	Gain
ing the gain in motion

•you want to increase the servo-lock stiffness by increasing the gain at stopping

•switch to the optimum gain according to the action mode

•lower the gain to suppress the vibration at stopping.

Stop￿	Run	Stop￿	Time
(Servo-Lock)		(Servo-Lock)
Low gain￿	High gain￿	Low gain￿
(1st gain)	(2nd gain)	(1st gain)

1ms 2ms

Suppress the vibration by lowering the gain.

<Example>

Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to lower gain after the motor stops.

• Make adjustment referring to the auto-gain tuning table (P.149) as well.

Servo￿
Parameter	￿	Title of parameter
No.￿
(SV.Pr**)

10￿ 1st position loop gain￿

11￿ 1st velocity loop gain￿

12￿ 1st velocity loop integration time constant￿

13￿ 1st speed detection filter￿

14￿ 1st torque filter time constant￿

15￿ Velocity feed forward￿

16￿ Feed forward filter time constant￿

18￿ 2nd position loop gain￿

19￿ 2nd velocity loop gain￿

1A￿ 2nd velocity loop integration time constant￿

1B￿ 2nd speed detection filter￿

1C￿ 2nd torque filter time constant￿

30￿ 2nd gain action set up￿
31￿ 1st control switching mode￿
32￿ 1st control switching delay time￿
33￿ 1st control switching level￿
34￿ 1st control switching hysteresis￿
35	Position loop gain switching time

Execute manual ￿

gain-tuning ￿ without gain switching

63￿

35￿

16￿

0￿

65￿

300￿

50￿

￿

￿

￿

￿

￿

0

Set up the same￿ value as SV.Pr10- 14 (1st gain)￿

to SV.Pr18-1C ￿ (2nd gain)

￿

￿

￿

￿

￿

￿

￿

63￿

35￿

16￿

0￿

65

Set up ￿

SV.Pr30-35 ￿ (Gain switching ￿

condition)

￿

￿

￿

￿

￿

￿

￿

￿

￿

￿

￿

￿

1￿

7￿

30￿

0￿

0￿

0

Adjust SV.Pr11

and 14 at stopping￿ (1st gain)

￿

27￿

￿

￿

84

Adjustment

		• Enter the known value ￿
		from load calculation	￿
20￿	Inertia ration	• Measure the inertia ￿
		ratio by executing nor	￿
￿
		mal auto-gain tuning￿
		• Default is 250

155