6-5
Communication
Address
Parameter Name & Function Default Unit
Setting
Range
Control
Mode
RS232 RS485
PI/P control switch mode.
Setting Explanation
0
Switch from PI to P if the torque command
is larger than Cn016.
1
Switch from PI to P if the speed command
is larger than Cn017.
2
Switch from PI to P if the acceleration rate
is larger than Cn018.
3
Switch from PI to P if the position error is
larger than Cn019.
Cn015.0
4
Switch from PI to P be the input contact
PCNT.
Set one of the multi function terminals to
option 03.
4 X
0
│
4
Automatic gain 1& 2 switch
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.
Cn015.1
4
Switch from gain 1 to 2 by input contact
G-SEL. Set one of the multi function
terminals to option 15.
4 X
0
│
4
Pi
Pe
S
C07H 000FH
Automatic gain proportion switch
Setting Explanation
0 JSDEP new automatic gain proportion
Cn015.3
1 JSDEP old automatic gain proportion
0 X
0
│
1
ALL C07H 000FH
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
C4BH 0010H
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
C4CH 0011H
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
C4DH 0012H
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
C4EH 0013H
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