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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-4 Control Loop Objects
9
9-4-4 3213 hex: 1st Position Control Gain
• Selects the method to switch the gain in the position control.
Description of Set Values
• Sets the delay time when the gain returns from Gain 2 to Gain 1 if the Mode Selection is set to 3.
• Sets the speed threshold for when Gain 2 switches to Gain 1 if the Mode Selection is set to 3.
• Sets the time to change the gain from a high value to a low value.
Sets the 1st position control gain.
• Sets the 1st position proportional gain.
• Sets the 1st position proportional gain.
• This object is intended for PDO assignment. Use this object to change the Proportional Gain
(subindex 01 hex) from a PDO.
Subindex 01 hex: Mode Selection
Set
value
Description
0 Always Gain 1
1 Always Gain 2
2 Gain switching command input via EtherCAT communications
3 Actual motor velocity with position command
Subindex 02 hex: Delay Time
Subindex 03 hex: Speed
Subindex 04 hex: Time
9-4-4 3213 hex: 1st Position Control Gain
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3213 --- 1st Position Con-
trol Gain
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- E1 hex --- 1 byte
(U8)
RO --- --- ---
01 Proportional Gain 0 to 5,000 0.1 Hz
44/29
*1
*1. The first value is for the Servo Drive with its capacity 3kw or less. The second value is for the Servo Drive with its capacity
5kw or more.
A 4 bytes
(INT32)
RW --- --- csp, pp,
hm
E1 Proportional Gain
Command
0 to 5,000 0.1 Hz
44/29
*1
A 4 bytes
(INT32)
W RxPDO --- csp, pp,
hm
Subindex 01 hex: Proportional Gain
Subindex E1 hex: Proportional Gain Command
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