Panasonic MINAS A6 Series, Technical Reference

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5.2Manual adjusting function
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5.2.11 3rd gain switching function
In addition to the normal gain switching function described on "5.2.5 Gain switching function", 3rd gain
switching function can be set to increase the gain just before stopping. The higher gain shortens
positioning adjusting time.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the 3rd gain switching function is activated:
Control Mode

Position control mode or Full-closed control mode
Others

Should be in servo-on condition

Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run
smoothly.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
6 05 B Position 3rd gain
valid time 0 to
10000 0.1 ms Set up the time at which 3rd gain becomes valid.
6 06 B Position 3rd gain
scale factor 50 to
1000 % Set up the 3rd gain by a multiplying factor of the 1st gain:
3rd gain = 1st gain x Pr 6.06/100
How to use
While in the condition under which the normal gain switching functions, set the 3rd gain application time
to Pr 6.05 Position 3rd gain enable time, and set the 3rd gain (scale factor with reference to 1st gain) to Pr
6.06 Position 3rd gain magnification ratio.

If 3rd gain is not used, set Pr 6.05 to 0 and Pr 6.06 to 100.

The 3rd gain is enabled only for position control or full closed control(Not supported).

During the 3rd gain period, only position loop gain/velocity loop gain becomes 3rd gain, during other periods,
1st gain setting is used.

When the 2nd gain switching condition is established during 3rd gain period, 2nd gain is used.

During transition from 2nd gain to 3rd gain, Pr 1.19 Position gain switching time is applied.

Even if the gain is changed from 2nd to the 1st due to parameter change, the 3rd gain period is inserted
between them.
Example: Pr 1.15 Mode of position control switching = 7 switching condition: with positional command