5-24
Parameter Name Default Unit Setting Range
Control
Mode
Cn020
Automatic gain 1& 2
switch delay time.
0 x0.2 msec 0~10000 Pi/Pe/S
Cn021
Automatic gain 1& 2
switch condition
(torque command)
200 % 0~399 Pi/Pe/S
Cn022
Automatic gain 1& 2
switch condition
(speed command)
0 rpm 0~4500 Pi/Pe/S
Cn023
Automatic gain 1& 2
switch condition
(acceleration
command)
0 rps/s 0~18750 Pi/Pe/S
Cn024
Automatic gain 1& 2
switch condition
(position error value)
0 pulse 0~50000 Pi/Pe/S
Note: Gain 1: is consisted of Pn310 (position loop gain 1), Sn211 (speed loop gain 1) and
Sn212 (Speed loop integral time 1).
Gain 2: is consisted of Pn311 (position loop gain 2), Sn213 (speed loop gain 2) and
Sn214 (Speed loop integral time 2).
(1) Automatic gain 1&2 switch condition (by torque command).
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 system will automatically switch back
to Gain 1 the switch time delay can be set by Cn020.
As show in the diagram below:
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