Panasonic MINAS A5-series, Operating Instructions Manual

Page: 186 / 394

4-18
Note
Related page
• For parameters which No. have a suffix of “
*
” , changed contents will be validated when
you turn on the control power.
• P.3-30... “Inputs and outputs on connector X4”
Pr1.24
Title
Mode of torque control switching
Related
control mode
P S T F
Range
0 to 3
Unit
—
Default
0
For torque controlling: Set the condition to trigger gain switching.
Setup value Switching condition
0 Fixed to the 1st gain.
1 Fixed to the 2nd gain.
2 Gain switching input
3 Torque command
Pr1.25
Title
Delay time of torque control switching
Related
control mode
P S T F
Range
0 to 10000
Unit
0.1ms
Default
0
For torque controlling : When shifting from the 2nd gain to the 1st gain with Pr1.24 Torque
control switching mode set at 3, set up the delay time from trigger detection to the switching
operation.
Pr1.26
Title
Level of torque control switching
Related
control mode
P S T F
Range
0 to 20000
Unit
Mode-
dependent
Default
0
Caution
For torque controlling: Set up triggering level when Pr1.24 Torque control gain switching
mode is set at 3.
Unit varies depending on the setup of mode of control switching.
Set the level equal to or higher than the hysteresis.
Pr1.27
Title
Hysteresis at torque control switching
Related
control mode
P S T F
Range
0 to 20000
Unit
Mode-
dependent
Default
0
Caution
For torque controlling: Set up triggering hysteresis when Pr1.24 Torque control gain
switching mode is set at 3.
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.
1. Details of parameter
[Class 1] Gain adjustment