- App.24 -
PrNo. Parameter Range Unit Function
description
• You can select the switching between PI and P action or
switching between the 1st and 2nd gains.
*1 Switch the PI and P action with the gain switching input
(GAIN: CN I/F Pin 5).
*2 See Adjustment for the conditions for switching
between the 1st and 2nd gains.
You can select the conditions for switching between the 1st and
2nd gains at the position control mode.
30
31
2nd gain
action set-up
Position control
switching mode
0 ~ 1
0 ~ 8
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Details of Parameters

Parameters for Switching to 2nd Gains

Gain selection and switching
Fixed to the 1st gains
*1 (switching between PI and P possible)
Switching between the 1st
and 2nd gains possible *2
GAIN input
COM- disconnected
COM- connected
Operation of the position loop
PI operation
P operation
Default : [ ]
Value
[ 0 ]
1
Conditions for gain switching
Fixed to the 1st gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON/
(Pr30 must be set to 1)
2nd gain selection with a larger torque command change
Fixed to the 1st gain
2nd gain selection with a larger velocity command
2nd gain selection with a larger position error
2nd gain selection with the position command issued
2nd gain selection with existence of 1 or more command pulse in 166 É s area.
2nd gain selection with no in-position
2nd gain selection with a position error counter value larger than Pr60 (in-
position detection range)
Value
[ 0 ]
1
2
3
4
5
6
7
8
*
3 For the switching level and timing, see App. 54 and App. 55.
*3
*3
*3
*3
*3
*3