Panasonic MINAS A6 Series, Technical Reference

Page: 116 / 306

Auto Tuning Functions
5-32
Class No.
Attribute
(Note 1)
Title Range Unit Function
1 20 B Mode of velocity
control switching 0 to 5 - For velocity controlling: Set the condition to trigger gain
switching.
Setup value Switching condition
0 Fixed to 1st gain
1 Fixed to 2nd gain
2
For manufacturer’s use
3 Torque command
4 Velocity command variation is larger.
5 Velocity command
1 21 B Delay time of
velocity control
switching 0 to
10000 0.1 ms For velocity controlling: When shifting from the 2nd gain to
the 1st gain with Pr 1.20 “Velocity control switching mode”
set at 3, 4 or 5, set the delay time from trigger detection to
the switching operation.
1 22 B Level of velocity
control switching 0 to
20000 Mode
dependent For velocity controlling: Set up triggering level when Pr 1.20
Velocity control gain switching mode is set at 3, 4 or 5.
Unit of setting varies with switching mode.
Set the level equal to or higher than the hysteresis.
1 23 B Hysteresis at
velocity control
switching 0 to
20000 Mode
dependent For velocity controlling: Set up triggering hysteresis when
Pr 1.20 “Velocity control gain switching mode” is set at 3, 4
or 5.
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally
adjusted so that it is equal to level.
1 24 B Mode of torque
control switching 0 to 3 - For torque controlling: Set the condition to trigger gain
switching
Setup value Switching condition
0 Fixed to 1st gain
1 Fixed to 2nd gain
2
For manufacturer’s use
3 Torque command
1 25 B Delay time of
torque control
switching 0 to
10000 0.1 ms For torque controlling: When shifting from the 2nd gain to
the 1st gain with Pr 1.24 “Torque control switching mode”
set at 3, set up the delay time from trigger detection to the
switching operation.
1 26 B Level of torque
control switching 0 to
20000 Mode
dependent For torque controlling: Set up triggering level when Pr 1.24
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.
1 27 B Hysteresis at
torque control
switching 0 to
20000 Mode
dependent For torque controlling: Set up triggering hysteresis when Pr
1.24 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.