Panasonic Minas-LIQI Series Technical Reference

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№SR-ZSV00039 － 35 －Motor Business Unit, Appliances Company, Panasonic Corporation5－2－2 Gain Switching FunctionGain switching by internal data or external signals provides the following effects. Decreased gain during stop (servo lock) for reducing vibration. Increased gain during stop (stabilization) for reducing the stabilization time. Increased gain during operation for faster follow-up to command. Gain is switched by external signals in accordance with device conditions.1）Related parametersThe gain switching function can be specified by the following parameters:Category No. Parameter Setup range Unit Function1 14 2nd gain setup 0～1 -Specified for optimum tuning by using the gain switching function.0: Fixed at first gain. The gain switch input (GAIN) is used toswitch the speed loop operation between PI and P operations.From GAIN input photocoupler OFF to PI operationFrom GAIN input photocoupler ON to P operation* The above is the case when the logic setting of GAIN inputis connect A. When the logic setting is connect B, OFFand ON are reversed.1: Gain switching of 1st gain (Pr1.00 to Pr1.04) and 2ndgain (Pr1.05 to Pr1.09) is made valid.1 15 Mode of positioncontrol switching 0～10-Specifies the trigger condition for gain switching in position control.Setting Condition of switching0 Fixed to the first gain1 Fixed to the second gain2 Gain switch3 Torque command4 Disabled (fixed to the first gain)5 Speed command6 Position deviation7 Position command8 Not in-position9 Actual speed10 Position command + actual speed1 16 Delay time of positioncontrol switching 010000 0.1 msSpecifies the time between trigger detection and actual gainswitching from the second to the first gain when the switching modeis 3 or any of 5 - 10 in position control.1 17 Level of positioncontrol switching 020000Dependson themodeSpecifies the level of the trigger when the switching mode is 3, 5, 6,9 or 10 in position control.The unit depends on the switching mode setting.Note) Specify a level  Hysteresis.1 18 Hysteresis at positioncontrol switching 020000Dependson themodeSpecifies the hysteresis for the trigger when the switching mode is3, 5, 6, 9 or 10 in position control.The unit depends on the switching mode setting.Note) If a level is lower than hysteresis, hysteresis is set to be thesame as level internally.1 19 Position gain switchingtime 010000 0.1 msUnder position control, if a difference between Pr1.00 ”1st gain ofposition loop” and Pr1.05 “2nd gain of position loop“ is large, asudden increase of position loop gain may be suppressed.When position loop gain increases, gains change taking timespecified by a setting value.