№
SX-DCT00221 -
27-
Panasonic Corporation
8.3
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 run command, 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 instruc-
tion)
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 com-
manded 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 reference.
Gain switching mode selection
36
0:
The 1st gain fixed,
1:
The 2nd gain fixed,
2:
Auto-
matic switching
Gain switching time
37
Changes to the 1st gain in the time set by parame-
ter after command output is completed. Unit [ms].
Operation is as follows when Pr36 is “2”.
Speed
Gain
Commanded
Actual speed
The 1st gain
The 2nd gain
The 1st gain
Pr37
Note) It is not allowed to set switching time in changing from the 1st gain to the 2nd gain in the start of operation.
