Panasonic A4P Series instruction manual Setup of Gain Switching Condition, 156

Manual Gain Tuning (Basic)

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￿
SV.Pr31		Switching condition to 2nd gain	Fig.
					SV.Pr32￿	SV.Pr33￿	SV.Pr34￿
0￿		Fixed to 1st gain￿	￿		–￿	–￿	–￿
1￿		Fixed to 2nd gain￿	￿		–￿	–￿	–￿
2￿		Gain switching input, GAIN ON￿	￿		–￿	–￿	–￿
3￿		Variation of torque command is large.￿	A￿		￿	*3[0.05%/166∝s]￿	*3[0.05%/166∝s]￿
		Fixed to 1st gain￿	￿		–￿	–￿	–￿
4￿
5￿		Speed command is large.￿	C￿			[r/min]￿	[r/min]￿
6	￿	Position deviation/Full-closed ￿	D	￿		￿	￿
		position deviation is large￿				*4[pulse]￿	*4[pulse]￿
￿			￿
7￿		Position command exists.￿	E￿			–￿	–￿
8￿		Not in positioning complete nor in ￿	￿			–￿	￿
		full-closed positioning complete￿	F				–
￿			￿			￿	￿
9￿		Speed￿	C￿			[r/min]￿	[r/min]￿
10		Command exists + velocity	G			[r/min] *6	[r/min]*6

*1 Delay time (SV.Pr32 and 37) will be valid only when returning from 2nd to 1st gain.

*2 Hysteresis is defined as the fig. below shows.

*3 When you make it a condition that there is 10% torque variation during 166∝s, set up the value to 200. 10%/166∝s = Setup value 200 x [0.05%/166∝s]

*4 Designate with either the encoder resolution or the external scale resolution depending on the control mode.

*5 When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1.

*6 When SV.Pr31=10, the meanings of delay time, level and hysteresis are different from the normal. (refer to Fig. G)

Hysteresis￿ (SV.Pr34)

Level (SV.Pr33)

0

H

L

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