－
59
－
－
58
－
Detail of parameters
Gain switching function
You can switch the gain parameter automatically while the motor is in run-command and is
at standstill.
During the automatic gain switching (Pr36 = 2), the 2nd gain is applied while the motor is in
runcommand, and the 1st gain is applied while the motor is at standstill.
With this gain switching function, you can change the holding torque at the motor standstill
by setting different values of torque limit between 1st and 2nd gain.
Parameter name
Parameter number
Supplement
The 1st gain
when
(
stopped
)
The 2nd gain
during
(
instruction
)
Position loop gain
28
30
Determines the response of position control.
Velocity loop gain
29
31
Determines the response of velocity loop.
Velocity loop integration
gain
2A
32
Determines the rigidity of velocity loop.
Velocity feed forward
2b
33
Function to forward (add) position instruction
to commanded speed
Speed detection filter
2C
34
Sets the time constant of low-pass filter of
speed feedback.
Velocity feed forward
time constant
2d
Filter in velocity feed forward
Torque limit
2E
35
Limits the output torque of motor.
Gain switching mode
selection
36
0: The 1st gain fixed
1: The 2nd gain fixed
2: Automatic switching
Gain switching time
37
Changes to the 1st gain in the time set
by parameter after command output is
completed. Unit [ms].
Commanded
Pr37
Actual speed
Gain The 1st gain
The 2nd gain
The 1st gain
Speed
Operation is as follows when Pr36 is “2”.
Note)
It is not allowed to set switching time in changing from the 1st gain to the 2nd gain in the
start of operation.
Outline of PANATERM for BL
Outline of PANATERM for BL
Communicating software “PANATERM for BL” (download from our web site) can do the
following thing.
(1) Setting and saving of parameters of brushless amplifier and writing setting to memory
EEPROM.
(2) Monitor of input/output signals, monitor of a load factor.
(3) The present trip display and reference of a trip history.
(4) Data measurement of waveform graphics, and the call of preservation data.
