Panasonic MINAS-BL GP series Instructions Manual

Also see for MINAS-BL GP series: Technical instructions Technical instructions Manual

Contents

－ 59 －－ 58 －Detail of parametersGain switching functionYou can switch the gain parameter automatically while the motor is in run-command and isat standstill.During the automatic gain switching (Pr36 = 2), the 2nd gain is applied while the motor is inruncommand, and the 1st gain is applied while the motor is at standstill.With this gain switching function, you can change the holding torque at the motor standstillby setting different values of torque limit between 1st and 2nd gain.Parameter nameParameter numberSupplementThe 1st gainwhen(stopped) The 2nd gainduring(instruction)Position loop gain 28 30 Determines the response of position control.Velocity loop gain 29 31 Determines the response of velocity loop.Velocity loop integrationgain 2A 32 Determines the rigidity of velocity loop.Velocity feed forward 2b 33 Function to forward (add) position instructionto commanded speedSpeed detection filter 2C 34 Sets the time constant of low-pass filter ofspeed feedback.Velocity feed forwardtime constant 2d Filter in velocity feed forwardTorque limit 2E 35 Limits the output torque of motor.Gain switching modeselection 360: The 1st gain fixed1: The 2nd gain fixed2: Automatic switchingGain switching time 37Changes to the 1st gain in the time setby parameter after command output iscompleted. Unit [ms].CommandedPr37Actual speedGain The 1st gain The 2nd gain The 1st gainSpeedOperation is as follows when Pr36 is “2”.Note)It is not allowed to set switching time in changing from the 1st gain to the 2nd gain in thestart of operation.Outline of PANATERM for BLOutline of PANATERM for BLCommunicating software “PANATERM for BL” (download from our web site) can do thefollowing thing.(1) Setting and saving of parameters of brushless amplifier and writing setting to memoryEEPROM.(2) Monitor of input/output signals, monitor of a load factor.(3) The present trip display and reference of a trip history.(4) Data measurement of waveform graphics, and the call of preservation data.