5-33
5-16 Gain Switching
Operating Functions
5
Timings for Gain Switch Setting (Pn031)
Switching between gain 1 and gain 2 will be performed as illustrated below.
Note that Position Loop Gain will be switched according to the setting for Pn035.
Gain Switch Setting (Pn031) = 2: Switching from Network
Gain switches instantly when commanded from the network.
Gain Switch Setting (Pn031) = 3: Switching by an amount of change in torque
command
The torque command change amount (angular acceleration and deceleration speed command) is
set in units of 0.05%/166 s.
Gain Switch is canceled if the change amount vibrates and fails to meet the switching time.
The change amount is approximately 6 units when switching 4% in 2 ms. (0.33% change in
166 s)
Gain 1 Gain 1
Gain 2
Gain switch command
Position command
112222
Pn032Pn032
Pn034
Pn034
Pn033
Pn033
Pn034
Pn034
Pn032 Pn032
Speed command
Torque command
Amount of change
in torque
Gain 1
Gain 1Gain 1
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