Panasonic A4P Series instruction manual Fig.A, Fig. C

					[Adjustment]
Fig.A	motor speed or ￿		Fig. C			Fig. E
	commanded ￿			command ￿
speed N	speed
				speed S
	level
		delay			delay
torque T				1st	2nd gain	1st
	1st	2nd gain	1st
∆T	speed N		Fig. D	speed N		Fig. F

level

delay
1￿	2	2	1st gain	2	2	1
￿		1￿			1￿
		￿			￿

Fig. B

command ￿ speed S

∆S

level

delay

1st 2nd 1st gain 2nd 1st

deviation pulse

level			COIN
	delay			delay
1st	2nd gain	1st	1st	2nd gain	1st
position command ￿no position command ￿actual speed < ￿					Fig. G
	exists.	x SV.Pr32,delay time		SV.Pr33 level
at stall	in action		at settling	proximity of stall
1st gain	2nd gain		2nd gain	2nd gain for velocity integrating ￿
				only and 1st gain for others

actual speed <(SV.Pr33 level – SV.Pr34 hysteresis)

actual speed <(SV.Pr33 level – SV.Pr34 hysteresis)

Adjustment

<Caution>

Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34).

157