No. SX-DSV02472 -
66-
Class No.
At-
trib-
ute
*1)
Title
Range
Unit
Function
1
20
B
Mode of velocity
control switching
0–5
—
For velocity controlling: Set the condition to trigger gain switching.
Setup value
Switching condition
0
Fixed to 1st gain
1
Fixed to 2nd gain
2
For manufacturer’s use
3
Torque command
4
Velocity command variation is larger.
5
Velocity command
1
21
B
Delay time of
velocity control
switching
0–10000
0.1 ms
For velocity controlling: When shifting from the 2nd gain to the 1st
gain with Pr 1.20 “Velocity control switching mode” set at 3, 4 or 5,
set the delay time from trigger detection to the switching operation.
1
22
B
Level of velocity
control switching
0–20000
Mode
dependent
For velocity controlling: Set up triggering level when Pr 1.20
Velocity control gain switching mode is set at 3, 4 or 5.
Unit of setting varies with switching mode.
Note: Set the level equal to or higher than the hysteresis.
1
23
B
Hysteresis at
velocity control
switching
0–20000
Mode
dependent
For velocity controlling: Set up triggering hysteresis when Pr 1.20
“Velocity control gain switching mode” is set at 3, 4 or 5.
Unit of setting varies with switching mode.
Note: When level < hysteresis, the hysteresis is internally adjusted so
that it is equal to level.
1
24
B
Mode of torque
control switching
0–3
—
For torque controlling: Set the condition to trigger gain switching
Setup value
Switching condition
0
Fixed to 1st gain
1
Fixed to 2nd gain
2
For manufacturer’s use
3
Torque command
1
25
B
Delay time of
torque control
switching
0–10000
0.1 ms
For torque controlling: When shifting from the 2nd gain to the 1st
gain with Pr 1.24 “Torque control switching mode” set at 3, set up
the delay time from trigger detection to the switching operation.
1
26
B
Level of torque
control switching
0–20000
Mode
dependent
For torque controlling: Set up triggering level when Pr 1.24 Torque
control gain switching mode is set at 3.
Unit varies depending on the setup of mode of control switching.
Note: Set the level equal to or higher than the hysteresis.
1
27
B
Hysteresis at
torque control
switching
0–20000
Mode
dependent
For torque controlling: Set up triggering hysteresis when Pr 1.24
Torque control gain switching mode is set at 3.
Unit of setting varies with switching mode.
Note: When level < hysteresis, the hysteresis is internally adjusted so
that it is equal to level.
*1) For parameter attribute, refer to Section 9-1.
*2
）
When an electronic gear ratio is larger than 1/1, even if it is servo-off, the remainder on operation may occur and a
encoder scale position deviation may not be set to 0. For details refer to “Section 4-2-4”.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
