5-54
Position speed command [r/min]
Pr6.05×0.1 ms
2nd gain 3rd gain 1st gain
Pr1.05 to 1.09 Pr1.00 to 1.04
[3rd gain period]
Position loop gain = Pr1.00 × Pr6.06/100
Speed proportional gain = Pr1.01 × Pr6.06/100
Time constant of velocity integration, speed
detection filter and torque filter directly use the
1st gain value.
5. Manual Gain Tuning (Application)
3rd gain switching function
How to Use
Caution
While in the condition under which the normal gain switching functions, set the 3rd gain
application time to Pr6.05 Position 3rd gain enable time, and set the 3rd gain (scale fac-
tor with reference to 1st gain) to Pr6.06 Position 3rd gain magnication ratio.
• If 3rd gain is not used, set Pr6.05 to 0 and Pr6.06 to 100.
• The 3rd gain is enabled only for position control or full closed control.
• During the 3rd gain period, only position loop gain/speed proportional gain becomes 3rd
gain, during other periods, 1st gain setting is used.
• When the 2nd gain switching condition is established during 3rd gain period, 2nd gain is
used.
• During transition from 2nd gain to 3rd gain, Pr1.19 Position gain switching time is ap-
plied.
When the gain is switched from 2nd to 1st by the change in parameter, the 3rd gain pe-
riod appears.
Example)
Pr1.15 Position control switching mode = 7 switching condition: with positional command:
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