SMC Networks LECSB2-T Series - Page 765

16 - 265
16. POSITIONING MODE
No./
symbol/name
Setting
digit
Function
Initial
value
[unit]
Control mode
CP
CL
PS
PB25
*BOP1
Function
selection B-1
_ _ _ x
For manufacturer setting
0h
_ _ x _
Position acceleration/deceleration filter type selection
Select the position acceleration/deceleration filter type.
0: Primary delay
1: Linear acceleration/deceleration
0h
_ x _ _
For manufacturer setting
0h
x _ _ _
0h
PB26
*CDP
Gain
switching
function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
_ _ _ x
Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency (Note)
3: Droop pulses
4: Servo motor speed/linear servo motor speed
0h
Note.
This will be a frequency of the servo motor side command pulse unit.
_ _ x _
Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
0h
_ x _ _
For manufacturer setting
0h
x _ _ _
0h
PB27
CDL
Gain
switching
condition
This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 9999
10
[kpulse/s]/
[pulse]/
[r/min]
PB28
CDT
Gain
switching
time constant
Set the time constant at which the gains will change in response to the conditions
set in [Pr. PB26] and [Pr. PB27].
Setting range: 0 to 100
1
[ms]
PB29
GD2B
Load to motor
inertia ratio
after gain
switching
Set the load to motor inertia ratio for when gain switching is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Setting range: 0.00 to 300.00
7.00
[Multipli
er]
PB30
PG2B
Position loop
gain after
gain
switching
Set the position loop gain for when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Setting range: 0.0 to 2000.0
0.0
[rad/s]
PB31
VG2B
Speed loop
gain after
gain
switching
Set the speed loop gain for when the gain switching is enabled.
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Setting range: 0 to 65535
0
[rad/s]