Panasonic MINAS-A4P Technical Reference

No. SR-DSV09485 - 31 -A4P MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTDParameterNo. Parameter Name Relatedcontrol modeSettingrange Function/Description30(RT)2nd gain action setup P, F 0 - 1Set up this parameter when the gain switching function is used for the optimum tuning.0: Uses the first gain (Servo parameter No. 10 - 14).1: Switches between the first gain (Servo parameter No. 10 - 14) and the second gain(Servo parameter No. 18 - 1C).To use this parameter, refer to Section 11-4..31(RT)1st controlswitching mode P, F 0 - 10Defines the trigger for switching gains in the 1st control-switching mode.0: Fixed to 1st gain, 1: Fixed to 2nd gain, 2: can not be used.3: Torque command change value, 4: Magnitude of speed command change,5: Speed command, 6: Position deviation, 7: Position command input, 8: Not in position,9: Speed, 10: Position command input + speedWhen Servo parameter No.31 is 2 and Servo parameter No.03 (torque limit selection) is 3,the 1st gain is fixed.Trigger contents may vary depending on the control mode.To use this parameter, refer to Section 11-4.32(RT)1st controlswitching delaytimeP, F 0 - 10000Defines the time duration from trigger detection to actual gain switching from the 2ndgain to the 1st gain when Servo parameter No. 31 (1st control switching mode) is set to 3 -10. The unit is [166μs].To use this parameter, refer to Section 11-4.33(RT)1st controlswitching level P, F 0 - 20000Defines the trigger level when Servo parameter No. 31 (1st control switching mode) is set to3 to 6,9, or 10.The unit varies depending on the setting of Servo parameter No. 31 (1st control switchingmode).To use this parameter, refer to Section 11-4.34(RT)1st controlswitchinghysteresisP, F 0 - 20000Defines the hysteresis for trigger judgment when Servo parameter No. 31 (1st controlswitching mode) is set to 3 to 6, 9 or 10.The unit varies depending on the setting of Servo parameter No. 31 (1st control switchingmode).To use this parameter, refer to Section 11-4.35(RT)Position loop gainswitching time P, F 0 - 10000Used to suppress a rapid increase in the position loop gain when there is a large differencebetween the first and second position loop gains.When the position loop gain increases, the change occurs in (the set value + 1) x166[μs].To use this parameter, refer to Section 11-4.36 Used bymanufacturer37 Used bymanufacturer38 Used bymanufacturer39 Used bymanufacturer3A Used bymanufacturer3B Used bymanufacturer3C Used bymanufacturer3D Used bymanufacturer3E Used bymanufacturer3F Used bymanufacturer