Chapter 8 ParametersASDA-A2R Series
Revision December, 2014
8-93
Gain switching condition:
0: Disable gain switching function.
1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than
the value of P2-29.
3: The frequency of position command is bigger than the
value of P2-29.
4: When the speed of servo motor is faster than the value of
P2-29.
5: The signal of gain switching (GAINUP) is OFF.
6: In position control mode, the position error is smaller than
the value of P2-29.
7: When the frequency of position command is smaller than
the value of P2-29.
8: When the speed of servo motor is slower than the value of
P2-29.
Gain switching method:
0: Gain switching
1: Integrator switching, P -> PI
Setting
Value
Control Mode P Control Mode S
0
P2-00 x 100%
P2-04 x 100%
P2-04 x 100%
Before
switching
P2-00 x P2-01
P2-04 x P2-05
P2-04 x P2-05
After
switching
1
P2-06 x 0%
P2-26 x 0%
Before
switching
P2-06 x 100%
P2-26 x 100%
After
switching
P2-28 GUT Gain Switching Time Constant
Address: 0238H
0239H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
10
Control
Mode：
ALL
Unit：
10ms
Range：
0 ~ 1000
Data Size：
16bit
Format：
DEC
Example：
15 = 150 ms
Settings：
It is for switching the smooth gain. (0: disable this function)
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