Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
32
0 to 10000
<30>*
x 166µs1st delay time of
control switching
You can set up the delay time when returning from the 2nd to the 1st gain,
while Pr31 is set to 3 or 5 to 10.
33
0 to 20000
<50>*
–1st level of
control switching
You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
34
0 to 20000
<33>*
–1st hysteresis
of control switching
You can set up hysteresis width to be
implemented above/below the
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
Pr33
0
Pr34
Pr32
1st gain 2nd gain 1st gain
31 0
to
10
<0>*
–1st mode of
control switching
You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*
1
2
3
4
5
6
7
8
9
10
Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching).
2nd gain selection when the positional deviation is larger than the setups of
Pr33 (1st control switching level) and Pr34 (1st hysteresis of control switching).
2nd gain selection when more than one command pulse exist between 166µs.
2nd gain selection when the positional deviation counter value exceeds the setup of
Pr60 (Positioning completer range).
2nd gain selection when the motor actual speed exceeds the setup of
Pr33 (1st level of control switching) and Pr34 (1at hysteresis of control switching) .
Switches to the 2nd gain while the position command exists.
Switches to the 1st gain when no-position command status lasts for the setup of Pr32 [x 166µs]
and the speed falls slower than the setups of Pr33-34[r/min].
*2
*2
*2
*2
*2
*2
*2
*2
*1
35
0 to 10000
<20>*
(setup
value +1)
x 166µs
Switching time of
position gain
You can setup the step-
by-step switching time to
the position loop gain
only at gain switching
while the 1st and the 2nd
gain switching is valid.
<Caution>
The switching time is
only valid when switching from small position gain to large position gain.
Pr35=
Kp1(Pr10)
166
166 166
166µs
Kp2(Pr18)
1st gain
e.g.)
2nd gain
bold line
thin line
1st gain
0
0
1
1
2
2
3
3
Kp1(Pr10)>Kp2(Pr18)
3D 0 to 500
<300>
r/minJOG speed setup You can setup the JOG speed.
Refer to P.75, "Trial Run"of Preparation.
<Notes>
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
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