Panasonic A4P Series User Manual
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
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
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
only and 1st gain for others
command
speed S
speed S
position command
exists.
<Caution>
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34).
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34).