NSK MEGATORQUE M-ESB-YSB2020AB300 - GP: Gain Switching Point; GT: Switching Gain Timer; HA: Home Return Acceleration

— 8-20 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
8. Glossary of Command and Parameter
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
« GP: Gain Switching Point
Format : GP data
Data range : 0, and 1 to 1 000 [pulse]
Shipping set : 0
Default : 0
l Sets the threshold of position error for the automatic gain switching function.
l It switches the gains for Motor stationary level when the absolute position error keeps clearing
the parameter GP data for a time set with the stability timer GT [ms].
l Setting the data to 0 deactivates the function of automatic gain switching.
l Refer to “7.2.7. Automatic Gain Switching” for more information.
l The Ts or ?GP reports the current setting.
GT: Switching Gain Timer
Format : GT data
Data Range : 0 to 1 000 [ms]
Shipping set : 5
Default : 0
l The gain will be switched to the stationary level if the absolute value of error pulses is within the
GP setting for a time set with the stability timer GT [ms].
l Refer to “7.2.7. Automatic Gain Switching” for more details.
l TS or ?GT reports the current setting.
HA: Home Return Acceleration
Format : HA data
Data range : 0.01 to 1 280.00 [s
-2
]
Shipping set : 1.00 [s
-2
]
Default : Not available
l The HA command sets an acceleration of Home Return.
l The TS or ?HA reports the current setting.