11. SPECIAL SERVO FUNCTION
11－4
(2) Switching of Position control→Velocity control
When switching to velocity control mode, velocity command value changes inconsecutively.
Therefore, if control mode is switched during motor operation, the operation may become unstable after
switch. Be careful to switch modes during operation. Having velocity command LPF (VLPF: page5 of
Mode0) effective (not at 1000Hz) will reduce the inconsecutiveness of velocity command value.
(3) Switching of Velocity control→Position control, and Torque control→Position control
Position deviation is cleared during control mode switching (when velocity control and torque control).
Therefore, system restarts counting position command pulse after switched to position control.
After tuning OFF the switch signal, input command pulse after switched to position control mode.
11.3 Gain Switch
The "PY2" series have “Gain switch“ function that can switch servo gain (Kp/ Kvp/ Tvi) during operation.
Servo gain can be changed by inputting switch signal into Servo Amplifier according to variations of device
rigidity, load and inertia.
11.3.1 Parameter setting
(1) Servo function select (Func: Mode4 page2)
Func setting Servo function
Normal Standard type
Gain_sel. Gain switch type
Gain_Tun. Real time automatic tuning type
Gsel&Gtun Gain switch & real time automatic tuning type
Gain switch function will be valid when selecting “Gain_Sel.” or “Gsel&Gtun”
(2) Gain switch input signal select (Func3 bit6: Mode2 page4)
Setting Procedure
Func3 bit6 = “0” Input gain switch signal to CN-36pin.
Func3 bit6 = “1” Input gain switch signal to CN-35pin.
11.3.2 Operation when gain switch is valid
Depending upon the external signal (CN1-36pin or 35pin) status “Servo gain switch (3 SWs)” in the middle
of figure 11-1 varies. Servo gain will vary within two seconds after external signal change.
After executing offline automatic tuning, estimated proper gain will be set into gain1 (Kp ; Mode0 page0/
Kvp ; Mode0 page2/ Tvi ; Mode0 page3/ ILPF ; Mode0 page6) regardless of gain switching status.
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