speed was kept below (level - hysteresis) (r/min) previously
during delay time with the 2nd gain.
Have position
command +actual
speed
⚫ Valid for position control.
⚫ Shift to the 2nd gain when the positional command was not 0
previously with the 1st gain.
⚫ Return to the 1st gain when the positional command was kept
at 0 during the delay time and the absolute value of actual
speed was kept below (level - hysteresis) (r/min) previously
with the 2nd gain.
In position control mode, setup Pr1.15=3,5,6,9,10;
In speed control mode, setup Pr1.15=3,5,9;
Level of position control switching
Unit of setting varies with switching mode.
switching condition: position :encoder pulse number ; speed : r/min ; torque : % .
Notice: set the level equal to or higher than the hysteresis.
Hysteresis at position control
switching
Combining Pr1.17(control switching level)setup
Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level.
Position gain switching time
For position controlling: if the difference between 1st gain and 2nd gain is large, the increasing rate
of position loop gain can be limited by this parameter.
<Position gain switching time>
Notice: when using position control, position loop gain rapidly changes, causing torque change and
vibration. By adjusting Pr1.19 position gain switching time, increasing rate of the position loop gain
can be decreased and variation level can be reduced.
Example: 1st (pr1.00) <-> 2nd (Pr1.05)
Positional command filter setup
Do filtering for positional command pulse, eliminate the interference of the narrow pulse, over-large
setup will influence the input of high frequency positional command pulse, and make more
time-delayed.
pulse digital filter of encoder
feedback setup
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