BONMET SDL10A - Higher Gain Results in Greater Mechanical Stiffness and Less Position Tracking

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de
Pn-63
Parameter
Demo or point to point mode selection
Modbus address
0x127E
Unit
－
Range
0~6
Default
2
CANbus object
0x227E.0
Attrib
R/W
Control mode：All
Details：This function is used to set the command type of demo mode or point to point mode.
󰪦 Set the parameter value to 0, the drive will work in torque demo mode. From step 1 to 16（torque commands from parameters
Pn-72~ Pn-87）, servo runs each step one by one and loops forever. In every step torque value and lasting time can be set
independently.
󰪧 Set the parameter value to 1, the drive will work in speed demo mode. From step 1 to 16（speed commands from parameters
Pn-88~ Pn-103）, servo runs each step one by one and loops forever. In every step torque value and lasting time can be set
independently.
󰪨 Set the parameter value to 2, the drive will work in position demo mode, From step 1 to 16（position commands from parameters
Pn-104~ Pn-183）, servo runs each step one by one and loops forever. In every step position, speed, acceleration and maximum torque
value can be set independently.
Pn-64
Parameter
Gain (PID) parameter switching mode
Modbus address
0x127F
Unit
－
Range
0~6
Default
0
CANbus object
0x227F.0
Attrib
R/W
Control mode：All
Details：This parameter is used to set the gain parameter switching mode.
Value
Switching mode
0
Fixed to the first set of PID parameters
1
Fixed to the second set of PID parameters
2
（NOT SUPPORT）
3
Switch the PID parameters by position deviation
4
Switch the PID parameters by speed deviation
5
Switch the PID parameters by motor speed
6
Switch the PID parameters by motor output torque
Note: Please refer to chapter 5 section 5.11 for details.
Pn-65
Parameter
Trigger value of gain (PID) parameter switching
function
Modbus address
0x1280
Unit
－
Range
0~32767
Default
0
CANbus object
0x2280.0
Attrib
R/W
Control mode：All
Details：󰪦 This function is used to set the trigger value of gain parameter switching function, it is valid while set Pn-65 to 3/4/5/6.
② The parameter unit depends on Pn-64. As set Pn-65 to 3, the unit is pulse; set Pn-65 to 4 or 5, the unit is rpm; set Pn-65 to 6, the
unit is %.
Pn-66
Parameter
The second position loop proportional gain
（PID2）
Modbus address
0x1281
Unit
－
Range
1~32000
Default
1000
CANbus object
0x2281.0
Attrib
R/W
Control mode：Position control mode
Details：This parameter is used to set the second position loop proportional gain, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause overshoot or
oscillation.
Note：For different motor, the default value is different.