8-15
8-2 Gain Parameters
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined as shown in the following figure.
*3. The change amount is the value within ms.
[Example] When the condition is a 10% change in torque in 1 ms, the set value is 200.
*4. This is the encoder resolution.
*5. The meanings of the gain switching delay time in position control, gain switching level in position
control, and gain switching hysteresis in position control are different from normal if this is set to 10.
(Refer to Figure F)
Pn117
0
Pn118
Pn116
Gain 1
Gain 2
Gain 1
H
L
H
L
H
L
H
L
Figure A
Speed V
To r que T
ΔT
Time
1
1
22 22
1
1
Gain 1
Figure C
Speed V
Gain 1 1Gain 2
Accumulated pulse error
Level
Time
Figure D
Command
speed S
Gain 1 1Gain 2
Time
Figure E
Actual
speed N
INP
Gain 1 1Gain 2
Time
Figure B
Speed V
Gain 1 Gain 1Gain 2
Time
Command speed S
Gain 1 Gain 2
Actual speed N
Time
H
L
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Figure F
Level
Level
Level
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