LSIS XDL-L7SA002X - Page 104

4. Parameters
4-36
Parameter Unit Initial
Details
Applica
tion
mode
Code Name Minimum
Maximum
P1-15
Gain transfer
mode
- 0x00
Sets gain transfer mode. [0x0F (DIGIT 1)]
 0: Use only gain 1.
 1: ZSPD automatic gain transfer
In case of zero speed, transfer from gain 1 to gain
2.
In the opposite case, transfer from gain 2 to gain 1.
 2: INPOS automatic gain transfer
In case of IN position, transfer from gain 1 to gain
2.
In the opposite case, transfer from gain 2 to gain 1.
 3: Manual gain transfer
When the gain 2 contact is on, transfer from gain 1
to gain 2.
In the opposite case, transfer from gain 2 to gain 1.
Sets P and PI control transfer modes. [0xF0 (DIGIT 2)]
0: Control PI only.
 1: Control P if the command torque is higher than
the set torque [P1-24].
 2: Control P if the command speed is higher than
the set speed [P1-25].
 3: Control P if the current acceleration is higher
than the set acceleration [P1-26].
 4: Control P if the current position error is higher
than the set position error [P1-27].
 Control P if the PCON contact is on (highest
priority).
(Details: Refer to “4.4.2 Control Parameter Setting.”)
(Details: Refer to “4.4.4 Input/Output Contact
Parameter Setting.”)
PS
Conversion mode 0x00 0x43
P1-16
Gain transfer time [ms] 1 Sets gain transfer time during operation.
When converting gain 1 to gain 2 and gain 2 to gain 1,
conversion is scheduled according to the set time.
PS
Gain conversion
time
1 100
P1-17
Resonance
avoidance
operation
- 0
Select whether to use the notch filter or not.
0: Do not use. 1: Use
(Details: Refer to “4.4.2 Control Parameter Setting.”)
PST
Notch filter use 0 1
P1-18
Resonance
avoidance
frequency
[Hz] 300
Sets resonance avoidance frequency.
(Details: Refer to “4.4.2 Control Parameter Setting.”)
PST
Notch frequency 0 1000
P1-19
Resonance
avoidance range
[Hz] 100
Sets the scope of resonance avoidance frequency.
(Details: Refer to “4.4.2 Control Parameter Setting.”)
PST
Notch bandwidth 0 1000
P1-20
Auto gain tuning
speed
100
[RPM]
8
Sets speed for automatic gain tuning run.
PST
Auto gain tuning
Speed
1 10
P1-21
Auto gain tuning
distance
- 3
Sets round-trip distance for automatic gain tuning run.
PST
Auto gain tuning
distance
1 5