No. SX-DSV02472 -
65-
5-2-5 Gain Switching Function
By selecting appropriate gain based on internal data or external signal, the following effects can be obtained.
• Decrease the gain at the time of stoppage (servo lock) to reduce vibration.
• Increase the gain at the time of stoppage (setting) to shorten the settling time.
• Increase the gain during operation to improve command compliance.
• Based on condition of the equipment, change the gain with external signal.
1)
Parameters
Set the gain switching function using the following parameters.
Class
No.
At-
trib-
ute *1)
Title
Range
Unit
Function
1
14
B
2nd gain setup
0–1
—
Arrange this parameter when performing optimum adjustment by
using the gain switching function.
0: It is fixed to the 1st gain.
1: Enable gain switching of 1st gain (Pr 1.00
−
Pr 1.04) and 2nd
gain (Pr 1.05
−
Pr 1.09).
1
15
B
Mode of position
control
switching
0–10
—
Set up the triggering condition of gain switching for position
control.
Setup value
Switching condition
0
Fixed to 1st gain
1
Fixed to 2nd gain
2
For manufacturer’s use
3
Torque command
4
Invalid (Fixed to 1st gain)
5
Velocity command
6
Position deviation
*2)
7
Position command exists
8
Not in positioning complete
*2)
9
Actual speed
10
Position command Actual speed
1
16
B
Delay time of
position control
switching
0–10000
0.1 ms
For position controlling: When shifting from the 2nd gain to the 1st
gain with Pr 1.15 Position control gain switching mode set at 3, 5, 6,
7, 8, 9 or 10, set up the delay time from trigger detection to the
switching operation.
1
17
B
Level of position
control
switching
0–20000
Mode
dependent
For position controlling: Set up triggering level when Pr 1.15
“Position control gain switching mode” is set at 3, 5, 6, 9 or 10. Unit
of setting varies with switching mode.
Note: Set the level equal to or higher than the hysteresis.
1
18
B
Hysteresis at
position control
switching
0–20000
Mode
dependent
For position controlling: Set up triggering hysteresis when Pr 1.15
“Position control gain switching mode” is set at 3, 5, 6, 9 or 10.
Unit of setting varies with switching mode.
Note: When level < hysteresis, the hysteresis is internally adjusted
so that it is equal to level.
1
19
B
Position gain
switching time
0–10000
0.1 ms
For position controlling: If the difference between Pr 1.00 “1st gain
of position loop” and Pr 1.05 “2nd gain of poison loop” is large, the
increasing rate of position loop gain can be limited by this
parameter.
The position loop gain will increase over the time set.
(To be continued)
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
