Summa Series Servodrive Product Manual
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
In this case, you can set a proper Hysteresis for Gain Switch (Pn126) to avoid the error between input
and output, and Figure 9-13 shows the diagram for this setting.
Figure 9-13 Hysteresis for Gain Switch diagram
Threshold for Gain
Switch (Pn123)
Hysteresis for Gain
Switch (Pn126)
Percentage of torque, etc.
Start the gain
switching
Set Pn121 to 8 (Use position reference and actual speed as the condition), indicating that there are two
conditions to be met when switching to the second gain:
− Condition 1: Hysteresis switching based on position reference, you shall set a proper Threshold
value for Gain Switch (Pn123) and Hysteresis for Gain Switch (Pn126).
This condition is met when the output exceeds the sum of Pn123 and Pn126.
− Condition 2: Switch based on actual speed judgment, and you shall set a proper Speed Threshold
for Gain Switch (Pn124).
This condition is met when the actual speed exceeds the threshold value.
Both condition 1 and condition 2 are met, switching to second group of gain parameters, otherwise the
first group of gain parameters is used.
Set Pn121 to 9 (Fixed to second group gains), indicating that the second group of gain parameters is
always used.
Relevant Parameters
Delay Time for Gain Switch
Threshold for Gain Switch
Speed Threshold for Gain Switch
Ramp Time for Position Loop Gain
Switch
Hysteresis for Gain Switch
9.5.2 P / PI Switching
The Drive uses the Proportional-Integral Controller by default to adjust the speed loop. You can set Pn116
(P/PI Switch Mode) for switching to the Proportional Controller when the set condition is met.
Use torque reference as the condition
(threshold setting: Pn117).
Use position deviation counter as the
condition (threshold setting: Pn118).
Use acceleration reference as the
condition (threshold setting: Pn119)
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