Panasonic MINAS-A4P Technical Reference

No. SR-DSV09485 - 108 -A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD[2] Define the switching level and hysteresis according to the switching condition.The parameters used to define the switching level and hysteresis vary depending on the control mode.1st control modeSwitching level Servo parameter No.33Hysteresis Servo parameter No.34The unit of the parameter settings varies depending on the switching condition.Switching condition(Servo parameter No. 31) Unit of Servo parameter Nos. 33 and 34 settings0 Fixed to 1st gain1 Fixed to 2nd gain Need not to be defined.2Gain selecting command(2Bh)(Fixed to 1st gain in the caseof I/O command)3 Change of torque command:Large[0.05 /166μs]200 (when 10% torque fluctuation in 166μs is defined as the switchingcondition)5 Speed command [r/min]6 Position deviation value [pulse] (Encoder resolution)7 Position command input Internal command pulse in 166μs: 1 or more8 Not in position The value on the position deviation counter is higher than the Servoparameter No. 60 (In-position range) setting.9 Speed [r/min]10 Position command input +SpeedSwitching to the 2nd gain with Position command input.Switching to the 1st gain after the position command OFF statuscontinues for Servo parameter No.32[x 166μs] and the speed becomesServo parameter No.33 - Servo parameter No.34[r/min] or less.1st gain 1st gain2nd gainHysteresisSwitching level