6-29
6-7 Gain Switching Function
The gain switching function of this device can be divided into two types of speed loop gain PI/P
switching and two-stage gain switching. The purposes of the function are as follows:
(1) In speed control, suppress the acceleration / deceleration overshoot.
(2) In position control, suppress the amplitude of oscillations caused by positioning and shortens
the settling time.
(3) Can reduce the use of the Servo Lock function that causes a harsh noise.
6-7-1 PI/P Switching Mode
Before using the PI/P switching mode, select
Cn015.0
(PI/P mode switching determination type
selection) first, and set the switching condition of PI/P mode in the relative parameters, the description
is as follows:
Cn015.0 PI/P Mode Switching Determination Type Selection
Initial Value Unit Setting Range Effective RS-485 Address
4 -- 0 ~ 4 Effective after Confirmed 0010H
Setting description:
Setting Description
0
Determine if the torque command is
greater than Cn016
1
Determine if the speed command is
greater than Cn017
2
Determine if the acceleration
command is greater than Cn018
3
Determine if the position error is
greater than Cn019
4 Use input contact PCNT to switch
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