37
Parameter
Name & Function Default Unit
Setting
Range
Control
Mode
Chapter
PI/P control mode switch by Torque Command
Cn016
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.
200 %
0
│
399
Pi
Pe
S
5-3-11
PI/P control mode switch by Speed Command
Cn017
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.
0 rpm
0
│
4500
Pi
Pe
S
5-3-11
PI/P control mode switch by accelerate Command
Cn018
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.
0 rps/s
0
│
18750
Pi
Pe
S
5-3-11
PI/P control mode switch by position error number
Cn019
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.
0 pulse
0
│
50000
Pi
Pe
S
5-3-11
Automatic gain 1& 2 switch delay time.
Cn020
Speed loop 2 to speed loop 1, Change over delay,
when two control speed loops ( P&I gains 1 & 2) are
used.
0
x02
msec
0
│
10000
Pi
Pe
S
5-3-11
Automatic gain 1& 2 switch condition (Torque
command)
Cn021
Set Cn015.1=0 first.
When torque command is less than Cn021 , Gain 1 is
selected.
When torque command is greater than Cn021, Gain 2
is selected
When Gain 2 is active and torque command becomes
less than Cn021 setting value, system will
automatically switch back to Gain 1 switch time delay
can be set by Cn020.
200 %
0
│
399
Pi
Pe
S
5-3-11
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
5-3-11
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