Panasonic MINAS A4P Series - Manual (Page 157)

157
[Adjustment]
Adjustment
speed N
Fig.A
torque T
level
delay
∆ T
∆ S
1st gain 2 2 1 2 2 1
1 1
command
speed S
Fig. B
level
delay
1st gain 2nd 1st 2nd 1st
motor speed or
commanded
speed
Fig. C
level
delay
2nd gain 1st 1st
speed N
deviation pulse
Fig. D
level
delay
2nd gain 1st 1st
Fig. E
delay
2nd gain 1st 1st
speed N
Fig. F
Fig. G
delay
2nd gain 1st
COIN
1st
at stall
no position command
x SV.Pr32,delay time | actual speed | <
SV.Pr33 level
| actual speed | < (SV.Pr33 level – SV.Pr34 hysteresis)
| actual speed | < (SV.Pr33 level – SV.Pr34 hysteresis)
1st gain
in action
2nd gain
at settling
2nd gain
proximity of stall
2nd gain for velocity integrating
only and 1st gain for others
command
speed S
position command
exists.
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34).