Parameter setting, Parameters for switching to 2nd gains, Parameters for position control – Panasonic MINAS A3 Series User Manual

Page 20

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Parameter Setting

Parameters for Switching to 2nd Gains

30

0 – 1

2nd gain action

set up

• The parameter selects switching of PI/P operation and the 1st/2nd gain

switching.

*1 Switching of 1 PI/P operation is done through gain switching input

(GAIN CN X5 27-pin).

*2 For conditions of switching between the 1st and 2nd gains, refer to

“Adjustment upon switching gain” of Adjustment volume on page 202.

Setting value

0

[1]*

Gain Selection/Switching

The 1st Gain (Possible to switch PI/P) *1

Possible to switch the 1st/2nd gain *2

GAIN input

Open with COM–

Connect to COM–.

Operation of speed loop

PI operation

P operation

3A

0 – 3

Torque control

switching mode

• The parameter selects conditions for switching between the 1st and 2nd

gains in torque control mode.

• This is same as Pr31 except parts related to position and speed control.

*1 For details on levels to be switched, refer to “Adjustment upon switching

gain” of Adjustment volume on page 202.

Setting value

[0]*

1

2

3

Conditions for Switching Gains

Fixed to the 1st gain.

Fixed to the 2nd gain.

With the gain switching input (GAIN) turned ON, 2nd gain is

selected. (Pr30 should be set to 1.)

With much variation of torque command, the 2nd gain is

selected.

3B

3C

3D

0 – 10000

[0]

0 – 20000

[0]

0 – 20000

[0]

x 166

µ

s

Torque control

switching delay time

Torque control

switching level

Torque control

switching hysteresis

• This is same as content of:

Pr32: Switching delay time

Pr33: Switching level

Pr34: Hysteresis at switching”

in position control mode.

Parameter

No.

Setting

range

Parameter Name

Unit

Function/Description

Default setting is shown by [ ]

*1

Parameters for Position Control

44

1 – 16384

[2500]

Output pulses per

single turn

The parameter sets number of pulses per one revolution of encoder pulse to be out-

put to the host device. The pulse will be set in dividing.

You should directly set in this parameter the number of pulses per revolution needed

for your device/system in terms of [Pulse/rev].

Parameter

No.

Setting

range

Parameter Name

Function/Description

Default setting is shown by [ ]

45

0 – 1

Pulse output

logic inversion

In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is

behind pulse A when the motor rotates in CW direction. (Phase B pulse advances

ahead of phase A pulse, when the motor rotates in CCW direction.)

Inversion of logic of phase B pulse with this parameter could invert a phase

relation of phase B pulse to phase A pulse.

Setting value

[0]

1

A pulse(OA)

B pulse(OB)

Non-inverting

B pulse(OB)

Inverting

IWhen Motor is Rotating

in CCW direction

IWhen Motor is Rotating

in CW direction

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