Datasheet

№SR-ZSV00039 － 46 －
Motor Business Unit, Appliances Company, Panasonic Corporation
5－2－6 3rd Gain Switching
In addition to normal Gain switching function described in Section 5-2-5, specifying 3
rd
gain is allowed to
switch gain just before stopping. By specifying a higher gain for a specified period of time just before
stopping, settling time for positioning can be shorter.
(1) Scope of application
□This function is applicable only when the following conditions are satisfied:
Conditions for operating 3
rd
Gain switching function
Action state In Servo On status.
Factors other than control parameters such as the deviation counter clear and com-
mand pulse inhibition inputs and the torque limit are appropriately configured and do
not cause any problem in normal motor rotation.
(2) Related parameters
Category
No.
Parameter
Setup range
Unit Function
6 05
Position 3
rd
gain valid
time
010000 0.1 ms
Time when 3
rd
gain is made valid is specified.
6 06
Position 3
rd
gain scale
factor
501000 %
3
rd
gain is specified by magnification against 1
st
gain.
3
rd
gain=1
st
gainPr6.06/100
(3) Usage
Specify time of applying 3
rd
gain in Pr6.05 “Position 3
rd
gain valid time” under conditions that gain switching
function operates normally. Then specify magnification of 3
rd
gain against 1
st
gain, in Pr6.06 “Position 3
rd
gain
scale factor”.
 If 3
rd
gain is not used, specify Pr6.05=0 and Pr6.06=100.
 3
rd
gain is valid only under position control/full-closed control.
 In 3
rd
gain area, 3
rd
gain is used for position loop gain/speed proportional gain only, and 1
st
gain setting is used for other
areas.
 If 2
nd
gain switching conditions are satisfied in the 3
rd
gain area, it switches to 2
nd
gain.
 Upon switching from 2
nd
gain to 3
rd
gain, Pr1.19 “Position gain switching time” is applied.
 Note that switching from 2
nd
gain to 1
st
gain by parameter change also makes a 3
rd
gain area.
2nd gain
Example）In the case of Pr1.15 “Mode of position control switching”=7, switching conditions: with position
command
3rd gain 1st gain
Poistion command speed
[r/min]
Pr6.050.1 ms
Pr1.05～1.09
[3rd gain area]
Position loop gain=Pr1.00Pr6.06/100
Speed ratio gain=Pr1.01Pr6.06/100
1
st
gain value is used for speed integral constant,
speed detection filter and torque filter as it is.
Pr1.00～1.04