- App. 40 -
PrNo.
Parameter
Range Unit Function
description
• You can select the switching between PI and P operations, and switch-
ing between the 1st and 2nd gains.
*1 Switch the PI and P-action with the gain switching input (GAIN:
CN I/F Pin 27).
*2 See Adjustment for the conditions for switching be tween the
1st and 2nd gains.
ÅE
You can select the conditions for switching between the
1st and 2nd gains at the position control mode.
30
31
2nd gain
action set-up
Position control
switching mode
0 ~ 1
[0]
0 ~ 8
[0]
––
––
Details of Parameters
Parameters for Switching to 2nd Gains
Value
0
1
Gain selection and switching
Fixed to the 1st gains
*1 (switching between PI and P possible)
Switching between the 1st
and 2nd gains possible *2
GAIN input
COM- disconnected
COM- connected
Operation of the position loop
PI operation
P operation
Value
0
1
2
3
4
5
6
7
8
Conditions for gain switching
Fixed to the 1st gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON/
(Pr30 must be set to 1)
2nd gain selection with a larger torque command change
Fixed to the 1st gain
2nd gain selection with a larger velocity command
2nd gain selection with a larger position error
2nd gain selection with the position command issued
2nd gain selection with no in-position
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