Panasonic MINAS E-series - Manual (Page 94)

94
Parameter Setting
• Set the parameter when you carry out optimum tuning by using gain
switching function.
For conditions of switching of the 1st and 2nd gains, refer to “Gain
Switching Function” on Page 138 of Adjustment edition.
• The parameter is used to select conditions of switching the 1st and
2nd gain in the position control mode.
• The parameter is enabled when Pr31 is 3 or 5 to 10, and sets delay
time from when it no longer meets the condition of switching
selected with Pr31 till actual return to the 1st gain.
• The parameter is enabled when Pr31 is 3, 5, 6, 9, or 10, and sets
judgment level of when the 1st and 2nd are switched.
Unit may vary depending on setting of Pr31.
• The parameter sets margin of hysteresis to be provided above and
below the judgment level set with Pr33 mentioned above.
• The following figure illustrates definitions of Pr32 (delay), Pr33
(level) and Pr34 (hysteresis).
<Caution>
Settings of Pr33 (level) and Pr34 (hysteresis) are valid as absolute
value (positive/negative).
Parameters for Adjustment (Related to Second Gain Switching Function)
Standard Default Setup: [ ]
Settings
0
[1]
Use the first gain (Pr10 to Pr14).
Switch between first gain (Pr10 to Pr14) and
second gain (Pr18 to Pr1C).
PrNo. Parameter Name Unit Function/Content
30
31
32
33
34
2nd gain action
set-up
Position control
switching mode
Position control
switching delay
time
Position control
switching level
Position control
switching
hysteresis
0 - 1
0 - 10
0 -
10000
[30]*
0 -
20000
[50]*
0 -
20000
[33]*
–
–
x 166 µ s
–
–
Pr33
0
Pr34
Pr32
First gain Second gain First
<Remarks>
Parameters having standard default setup value with “*” mark are automatically set while real time auto
gain tuning is running. To change to manual, refer to “Cancellation of the Automatic Gain Tuning” on Page
135 of Adjustment edition, disable real time auto gain tuning and then set.
Range of
Settings
Settings
0
1
2
3 *
4
5 *
6 *
7 *
8 *
9 *
[10]*
Trigger for Switching Gains
Fixed to the 1st gain.
Fixed to the 2nd gain.
The 2nd gain switching input (GAIN) of pin 5 of CN X5 is ON (Pr30 needs setting of 1.)
Torque command variation
Fixed to the 1st gain.
Command speed
Position deviation
Position command
Positioning not completed
Motor real speed
Position command + speed
* For a switching level and timing, refer to “Gain Switching Function” on Page 138 of Adjustment edition.