Panasonic A4P Series instruction manual Parameters for Adjustment 2nd Gain Switching Function

							[Setting]
							Standard default : < >
Servo￿	Title	Setup￿	Unit				Function/Content
PrNo.		range
26	Software limit set	0 to 1000￿	0.1￿	You can set		up the movable range of the motor against the position
	up	<10> revolution		command input range. When the motor movement exceeds the setup
				value, software limit protection of Err.34 will be triggered. This parameter
				is invalid with setup value of 0.
2F	Adaptive filter	0 to 64￿	–￿	Displays the		table No. corresponding to the adaptive filter frequency.
	frequency	<0>		(Refer to P.147 of Adjustment.) This parameter will be automatically set
				and cannot be changed while the adaptive filter is valid. (when SV.Pr23
				(Adaptive filter mode) is other than 0.)￿
				￿			Filter mode
				Setup value￿
				￿	<0> to 4￿		Filter is invalid.￿
				￿
					5 to 48￿		Filter is valid.￿
				￿
				￿ 49 to 64			Filter validity changes according to SV.Pr22.	Setting
				This parameter will be saved to EEPROM every 30 minutes while the
				adaptive filter is valid, and when the adaptive filter is valid at the next
				power-on, the adaptive action starts taking the saved data in EEPROM as
				an initial value.￿
				<Caution> ￿
				When you need to clear this parameter to reset the adaptive action while
				the action is not normal, invalidate the adaptive filter (SV.Pr23, "Adaptive
				filter mode" to 0) once, then validate again.￿
				Refer to P.151, "Release of Automatic Gain Adjusting Function" of
				Adjustment as well.

Parameters for Adjustment (2nd Gain Switching Function)

										Standard default : < >
Servo￿	Title	Setup￿		Unit					Function/Content
PrNo.		range
30	2nd gain action set	0 to 1￿		–￿	Set when performing optimum tuning using the gain switching function.
	up	<1>*
						Setup value	￿		Gain selection/switching
						0￿			1st gain (SV.Pr10 to 14)￿
						<1>*			1st (SV.Pr10 to 14) / 2nd gain (SV.Pr18 to 1C)
31	1st control	0 to 10￿		–￿	Set a trigger to switch a gain.
	switching mode	<10>*
						Setup value￿			Gain switching condition
						0￿			Fixed to the 1st gain.￿
						1￿			Fixed to the 2nd gain.￿
						2￿			Unavailable￿
						3￿			Toque command variation￿
						4￿		*1￿	Speed command variation￿
						5￿		*1￿	Speed command￿
						6￿		*1￿	Positional deviation￿
						7￿		*1￿	Positional command￿
						8￿		*1￿	Positioning is not completed￿
						9￿		*1￿	Speed￿	￿
						<10>*		*1￿	Position command + speed
								*1
					*1 For the switching level and the timing, refer to P.155, "Gain Switching
						Function" of Adjustment.
32	1st control	0 to 10000	￿x 166∝s		Set a time from the detection of trigger to actual gain switching when the
	switching delay	<30>*			2nd gain is switched into the 1st gain, if SV.Pr31 (1st control switching
	time				mode) is between 3 and 10.
33	1st control	0 to 20000	￿	–￿	You can set up the switching (judging) level of the 1st and the 2nd gains,
	switching level	<50>*			while SV.Pr31 is set to 3, 5, 6. 9 and 10.￿
					Unit varies depending on the setup of SV.Pr31 (1st control switching mode)

<Notes>

•Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.

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