6-7
Communication
Address
Parameter Name & Function Default Unit
Setting
Range
Control
Mode
RS232 RS485
Automatic gain 1& 2 switch condition (Speed
Command)
Cn022
Set the Cn015.1=1 first.
When speed command is less than Cn022 Gain 1 is
selected.
When speed command is greater than Cn022 Gain 2
is selected.
When Gain 2 is active and speed command
becomes less than Cn022 setting value, system will
automatically switch back to Gain 1 the switch time
delay can be set by Cn020.
0 rpm
0
│
4500
Pi
Pe
S
53EH 0016H
Automatic gain 1& 2 switch condition
(Acceleration Command)
Cn023
Set Cn015.1=2 first.
When accel. command is less than Cn023 Gain 1 is
selected.
When accel. command is greater than Cn023 Gain 2
is selected.
When Gain 2 is active and acceleration command
becomes less than Cn023 system will automatically
switch back to Gain 1 the switch time delay can be
set by Cn020.
* accel. is acceleration
0 rps/s
0
│
18750
Pi
Pe
S
53FH 0017H
Automatic gain 1& 2 switch condition (Position
error value)
Cn024
Set Cn015.1=3 first.
When position error value is less than Cn024 Gain 1
is selected.
When position error value is greater than Cn024
Gain 2 is selected.
When Gain 2 is active and position error value
becomes less than Cn024 system will automatically
switch back to Gain 1 and the switch time delay can
be set by Cn020.
0 pulse
0
│
50000
Pi
Pe
S
540H 0018H
Load-Inertia ratio
Cn025
%100
)
M
Inertia(JMotorRotor
)
L
(J
aToMotorLoadInerti
aRatioLoadInerti
40 x0.1
0
│
1000
Pi
Pe
S
5FBH 0019H
Rigidity Setting
When Auto tuning is used, set the Rigidity Level
depending on the various Gain settings for
applications such as those listed below:
Explanation
Setting
Position
Loop Gain
Pn310
[1/s]
Speed
Loop
Gain
Sn211
[Hz]
Speed Loop
Integral-Time
Constant
Sn212 [x0.2msec]
1
15 15 300
2
20 20 225
3
30 30 150
4
40 40 100
5
60 60 75
6
85 85 50
7
120 120 40
8
160 160 30
9
200 200 25
Cn026
A
250 250 20
4 X
1
│
A
Pi
Pe
S
C32H 001AH
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