Panasonic MINAS A5-series Operating Instructions Manual
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Contents
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5-18Setup of Gain Switching Condition• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)Setup of gain switching condition Setup parameters at position control, full-closed controlDelay time *1 Level Hysteresis *2Pr1.15 Switching condition to2nd gain Fig. Pr1.16 Pr1.17 Pr1.180 Fixed to 1st gain – – –1 Fixed to 2nd gain – – –2 Gain switching input – – –3 Torque command A [%] [%]4 Invalid (Fixed to 1st gain) – – –5 Speed command C [r/min] [r/min]6 Position deviation D *3 [pulse] *3 [pulse]7 Position command exists. E – –8 Not in positioning complete F – –9 Speed C [r/min] [r/min]10 Command exists + velocity G [r/min] *5 [r/min] *5• Velocity control modeSetup of gain switching condition Setup parameters at velocity control modeDelay time *1 Level Hysteresis *2Pr1.20 Switching condition to2nd gain Fig. Pr1.16, 1.21 Pr1.17, 1.22 Pr1.18, 1.230 Fixed to 1st gain – – –1 Fixed to 2nd gain – – –2 Gain switching input – – –3 Torque command A [%] [%]4 Variation of speed command islarge. B – *4 [10(r/min)/s] *4 [10(r/min)/s]5 Speed command C [r/min] [r/min]• Torque control modeSetup of gain switching condition Setup parameters at torque control modeDelay time *1 Level Hysteresis *2Pr1.24 Switching condition to2nd gain Fig. Pr1.16, 1.25 Pr1.17, 1.26 Pr1.18, 1.270 Fixed to 1st gain – – –1 Fixed to 2nd gain – – –2 Gain switching input, GAIN ON – – –3 Variation of torque command islarge. A [%] [%]4. Manual Gain Tuning (Basic)Gain Switching FunctionHysteresis(Pr1.18, 1.23, 1.27)LevelPr1.17Pr1.22( Pr1.26 )0HL*1 Delay time (Pr1.16, 1.12 and 1.25) will be valid only when returning from 2nd to 1stgain.*2 Hysteresis (Pr1.18, 1.23 and 1.27) is defined as the fig. below shows.*3 Designate with either the encoder resolution or the external scale resolution depend-ing on the control mode.*4 When you make it a condition that thereis speed variation of 10r/min in 1s, setup the value to 1.*5 When Pr1.15=10, the meanings of de-lay time, level and hysteresis are differ-ent from the normal. (refer to Fig. G) |
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This manual is suitable for:
MADHT1105MADHT1107MADHT1505MADHT1507MBDHT2110MBDHT2510MCDHT3120MCDHT3520MDDHT3530MDDHT5540MDME202G1MDME302G1MDME402G1MDME502G1MEDHT7364MFDHTA390MFDHTB3A2MGME092G1MGME202G1MGME302G1MHME102G1MHME152G1MHME202G1MHME302G1MHME402G1MHME502G1MINAS A5-seriesMSME011G1MSME012G1MSME021G1MSME022G1MSME041G1MSME042G1MSME082G1MSME102G1MSME152G1MSME202G1MSME352G1MSME5AZG1
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