Panasonic MINAS A6 Series, Technical Reference

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5.2Manual adjusting function
5-33
How to use
Set the gain switching mode for the control mode to be used, and enable the gain switching function
through Pr 1.14 2nd gain setup (set Pr 1.14 to 1).
Switching
mode
(Pr1.15)
Setup value
Switching condition Gain switching condition
0 Fixed to 1st gain Fixed to the 1st gain (Pr 1.00 to Pr 1.04).
1 Fixed to 2nd gain Fixed to the 2nd gain (Pr 1.05 to Pr 1.09).
2
For manufacturer’s use
Please do not set.
3 Torque command is large

Shift to the 2nd gain when the absolute value of the torque command exceeded (level +
hysteresis) (%) previously with the 1st gain.

Return to the 1st gain when the absolute value of the torque command was kept below
(level
–hysteresis) (%) previously during delay time with the 2nd gain.
4 Velocity command variation
is larger.

Valid only during velocity control.

Shift to the 2nd gain when the absolute value of the velocity command variations
exceeded (level + hysteresis) (10 r/min/s) previously with the 1st gain.

Return to the 1st gain when the absolute value of the velocity command variations was
kept below (level
–hysteresis) (10 r/min/s) during delay time previously with the 2nd gain.
* The 1st gain is fixed while the velocity control is not applied.
5 Velocity command is large

Valid for position, velocity and full-closed controls.

Shift to the 2nd gain when the absolute value of the velocity command exceeded (level
+hysteresis) (r/min) previously with the 1st gain.

Return to the 1st gain when the absolute value of the velocity command was kept below
(level- hysteresis) (r/min) previously during delay time with the 2nd gain.
6 Position deviation is large

Valid for position and full-closed controls.

Shift to the 2nd gain when the absolute value of the positional deviation exceeded (level
+ hysteresis) (pulse) previously with the 1st gain.

Return to the 1st gain when the absolute value of the positional deviation was kept below
(level
–hysteresis) (pulse) previously over delay time with the 2nd gain.
* Unit of level and hysteresis (pulse) is set as the encoder resolution for positional control
and external scale resolution for full-closed control.
* The positional deviation in these contents indicates the deviation between the internal
command position and actual position after the filter regardless of the set value of
Pr7.23: bit 14.
7 Position command exists

Valid for position and full-closed controls.

Shift to the 2nd gain when the positional command was not 0 previously with the 1st
gain.

Return to the 1st gain when the positional command was kept 0 previously during delay
time with the 2nd gain.
8 Not in positioning complete

Valid for position and full-closed controls.

Shift to the 2nd gain when the positioning was not completed previously with the 1st
gain.

Return to the 1st gain when the positioning was kept in completed condition previously
during delay time with the 2nd gain.
9 Actual speed is large

Valid for position and full-closed controls.

Shift to the 2nd gain when the absolute value of the actual speed exceeded (level +
hysteresis) (r/min) previously with the 1st gain.

Return to the 1st gain when the absolute value of the actual speed was kept below (level
-hysteresis) (r/min) previously during delay time with the 2nd gain.
10 Position command
Actual speed

Valid for position and full-closed controls.

Shift to the 2nd gain when the positional command was not 0 previously with the 1st
gain.

Return to the 1st gain when the positional command was kept at 0 during the delay time
and the absolute value of actual speed was kept below (level
–hysteresis) (r/min)
previously with the 2nd gain.