Panasonic MDDDT5540 User Manual

App.

54 -

P r 3 1

F i g u r e

Switching conditions

Fixed to 1st gain

Fixed to 2nd gain

Gain switching input, 2nd gain

selected with GAIN On

2nd gain selected with a large

torque command differential

Fixed to 1st gain

Large target velocity commanded

Large position error

Position command existing

Positioning incomplete

Delay time

Åñ1

Pr32

-----

L e v e l

Pr33

-----

(0.05%/166 µ s )

-----

(r/min)

(pulse)

-----

Hysteresis

Åñ2

Pr34

-----

(0.05%/166 µ s )

-----

(r/min)

(pulse)

-----

Specifications

Gain Switching Conditions

Åú

Position Control Mode

( : the parameter valid, -: invalid)

Parameters for position control

Gain switching conditions

Delay time (parameters Pr32) becomes effective when returning from 2nd gain to 1st gain.

For the definitions of hysteresis parameters

(Pr34), see the right figure.

*3 When conditions are that torque fluctuation of

10% was experienced in the 166 É s area, set up

the value 200.

10%/166 É s = Set-up value [200] x (0.05%/166 µs )

*4 Resolution of encoder

· Figures A through E are shown in the next page.

Internal velocity control mode

Gain switching is disabled(fixed to 1

gain).

Hysteresis

Level

(Pr33.38.3C)