№
SR-ZSV00039
－
35
－
Motor Business Unit, Appliances Company, Panasonic Corporation
5
－
2
－
2
Gain Switching Function
Gain switching by internal data or external signals provides the following effects.
Decreased gain during stop (servo lock) for reducing vibration.
Increased gain during stop (stabilization) for reducing the stabilization time.
Increased gain during operation for faster follow-up to command.
Gain is switched by external signals in accordance with device conditions.
1
）
Related parameters
The gain switching function can be specified by the following parameters:
Category
No.
Parameter
Setup range Unit
Function
1
14
2
nd
gain setup
0
～
1
-
Specified for optimum tuning by using the gain switching function.
0: Fixed at first gain. The gain switch input (GAIN) is used to
switch the speed loop operation between PI and P operations.
From GAIN input photocoupler OFF to PI operation
From GAIN input photocoupler ON to P operation
* The above is the case when the logic setting of GAIN input
is connect A. When the logic setting is connect B, OFF
and ON are reversed.
1: Gain switching of 1
st
gain (Pr1.00 to Pr1.04) and 2
nd
gain (Pr1.05 to Pr1.09) is made valid.
1
15
Mode of position
control switching
0
～
10
-
Specifies the trigger condition for gain switching in position control.
Setting
Condition of switching
0
Fixed to the first gain
1
Fixed to the second gain
2
Gain switch
3
Torque command
4
Disabled (fixed to the first gain)
5
Speed command
6
Position deviation
7
Position command
8
Not in-position
9
Actual speed
10
Position c actual speed
1
16
Delay time of position
control switching
0
10000
0.1 ms
Specifies the time between trigger detection and actual gain
switching from the second to the first gain when the switching mode
is 3 or any of 5 - 10 in position control.
1
17
Level of position
control switching
0
20000
Depends
on the
mode
Specifies the level of the trigger when the switching mode is 3, 5, 6,
9 or 10 in position control.
The unit depends on the switching mode setting.
Note) Specify a level
Hysteresis.
1
18
Hysteresis at position
control switching
0
20000
Depends
on the
mode
Specifies the hysteresis for the trigger when the switching mode is
3, 5, 6, 9 or 10 in position control.
The unit depends on the switching mode setting.
Note) If a level is lower than hysteresis, hysteresis is set to be the
same as level internally.
1
19
Position gain switching
time
0
10000
0.1 ms
Under position control, if a difference between Pr1.00 ”1
st
gain of
position loop” and Pr1.05 “2
nd
gain of position loop“ is large, a
sudden increase of position loop gain may be suppressed.
When position loop gain increases, gains change taking time
specified by a setting value.
