Panasonic MINAS A4P Series - Manual (Page 156)

156
Hysteresis
(SV.Pr34)
Level
(SV.Pr33)
0
H
L
Manual Gain Tuning (Basic)
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
0
1
2
3
4
5
6
7
8
9
10
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is large.
Fixed to 1st gain
Speed command is large.
Position deviation/Full-closed
position deviation is large
Position command exists.
Not in positioning complete nor in
full-closed positioning complete
Speed
Command exists + velocity
A
C
D
E
F
C
G
Delay time *1
SV.Pr32
–
–
–
–
Setup parameters at position control, full-closed control
Level
SV.Pr33
–
–
–
*3[0.05%/166 µ s]
–
[r/min]
*4[pulse]
–
–
[r/min]
[r/min] *6
Setup of gain switching condition
Switching condition to 2nd gain Fig. SV.Pr31
Hysteresis *2
SV.Pr34
–
–
–
*3[0.05%/166 µ s]
–
[r/min]
*4[pulse]
–
–
[r/min]
[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
µ s, set up the value to 200.
10%/166 µ s = Setup value 200 x [0.05%/166 µ 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)
Setup of Gain Switching Condition