Panasonic Minas-LIQI Series Technical Reference

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№SR-ZSV00039 － 46 －Motor Business Unit, Appliances Company, Panasonic Corporation5－2－6 3rd Gain SwitchingIn addition to normal Gain switching function described in Section 5-2-5, specifying 3rd gain is allowed toswitch gain just before stopping. By specifying a higher gain for a specified period of time just beforestopping, settling time for positioning can be shorter.(1) Scope of application□This function is applicable only when the following conditions are satisfied:Conditions for operating 3rd Gain switching functionAction state In Servo On status.Factors other than control parameters such as the deviation counter clear and com-mand pulse inhibition inputs and the torque limit are appropriately configured and donot cause any problem in normal motor rotation.(2) Related parametersCategory No. Parameter Setup range Unit Function6 05 Position 3rd gain validtime 010000 0.1 ms Time when 3rd gain is made valid is specified.6 06 Position 3rd gain scalefactor 501000 % 3rd gain is specified by magnification against 1st gain.3rd gain=1st gainPr6.06/100(3) UsageSpecify time of applying 3rd gain in Pr6.05 “Position 3rd gain valid time” under conditions that gain switchingfunction operates normally. Then specify magnification of 3rd gain against 1st gain, in Pr6.06 “Position 3rd gainscale factor”. If 3rd gain is not used, specify Pr6.05=0 and Pr6.06=100. 3rd gain is valid only under position control/full-closed control. In 3rd gain area, 3rd gain is used for position loop gain/speed proportional gain only, and 1st gain setting is used for otherareas. If 2nd gain switching conditions are satisfied in the 3rd gain area, it switches to 2nd gain. Upon switching from 2nd gain to 3rd gain, Pr1.19 “Position gain switching time” is applied. Note that switching from 2nd gain to 1st gain by parameter change also makes a 3rd gain area.2nd gainExample）In the case of Pr1.15 “Mode of position control switching”=7, switching conditions: with positioncommand3rd gain 1st gainPoistion command speed[r/min]Pr6.050.1 msPr1.05～1.09[3rd gain area]Position loop gain=Pr1.00Pr6.06/100Speed ratio gain=Pr1.01Pr6.06/1001st gain value is used for speed integral constant,speed detection filter and torque filter as it is.Pr1.00～1.04