52
Parameter Name & Function Default Unit
Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn015.1
Automatic gain 1& 2 switch
4 X
0
│
4
Pi
Pe
S
C07H 000FH
Setting Explanation
0
Switch from gain 1 to 2 if torque
command is greater than Cn021.
1
Switch from gain 1 to 2 if speed command
is greater than Cn022.
2
Switch from gain 1 to 2 if acceleration
command is greater than Cn023.
3
Switch from gain 1 to 2 if position error
value is greater than Cn024.
4
Switch from gain 1 to 2 by input contact
G-SEL. Set one of the multi function
terminals to option 15.
Cn015.3
Automatic gain proportion switch
0 X
1
│
0
ALL
Setting Explanation
0 JSDAP new automatic gain proportion
1 JSDAP old automatic gain proportion
Cn016
PI/P control mode switch by Torque
Command
200 %
0
│
399
Pi
Pe
S
C4BH 0010H
Set the Cn015.0=0 first.
If Torque Command is less than Cn016 PI control
is selected.
If Torque Command is greater than Cn016 P
control is selected.
Cn017
PI/P control mode switch by Speed Command
0 rpm
0
│
4500
Pi
Pe
S
C4CH 0011H
Set the Cn015.0=1 first.
If Speed Command is less than Cn017 PI control
is selected.
If Speed Command is greater than Cn017 P
control is selected.
Cn018
PI/P control mode switch by accelerate
Command
0 rps/s
0
│
18750
Pi
Pe
S
C4DH 0012H
Set the Cn015.0=2 first.
If Acceleration is less than Cn018 PI control is
selected.
If Acceleration is greater than Cn018 P control is
selected.
Cn019
PI/P control mode switch by position error
number
0 pulse
0
│
50000
Pi
Pe
S
C4EH 0013H
Set the Cn015.0=3 first.
If Position error value is less than Cn019 PI
control is selected.
If Position error value is greater than Cn019 P
control is selected.
Cn020
Automatic gain 1& 2 switch delay time.
0
x02
msec
0
│
10000
Pi
Pe
S
53CH 0014H
Speed loop 2 to speed loop 1, Change over delay,
when two control speed loops ( P&I gains 1 & 2)
are used.
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