Panasonic MINAS-A4P Technical Reference

No. SR-DSV09485 - 109 -A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD[3] Define the switching delay time.The switching delay time defines the time for switching the 2nd gain (Servo parameter No. 18, 19, 1A, 1Band 1C) to the 1st gain (Servo parameter No. 10, 11, 12, 13 and 14).To switch from the 2nd gain to the 1st gain, the specified switching condition must be satisfied continuouslyduring the switching delay time.[4] Define the position gain switching time.When the gain is switched, the speed loop gain, speed integration time constant, speed detection filter andtorque filter time constant will be instantaneously switched. However, you can change the position loopgain gradually, to avoid a trouble caused by a rapid increase in gain.When Servo parameter No. 35 (Position loop gain switching time) is "0":HysteresisSwitching level1st gain 2nd gain 1st gainSwitching delay timeCancelled due to inconformitywith the switching condition.When Pr. 35 (Position loop gain switching time) is "5":High gain166μsHigh gainLow gainLow gain