6-32
(5) Use Digital Input Contact
PCNT
to switch PI/P Mode
When the digital input contact
PCNT
does not operate, it is PI control, when the digital input
contact
PCNT
operates, then switch to P Control only, the schematic diagram is as follows:
Note)
Please refer to 5-6-1 Input / Output contact function planning to set the driver effective
logic.
6-7-2 Two Stage Gain Switching Mode
Before using the two stage gain switching mode, select
Cn015.1
(Two stage gain mode switching
determination type selection), and set the switching condition of the two stage gain mode in the
relative parameters. The difference of this mode from the PI/P switching mode is the addition of the
capability to set the switching delay time and switching time, the description is as follows:
Cn015.1 Two Stage Gain 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 Cn021
1
Determine if the speed command is
greater than Cn022
2
Determine if the acceleration
command is greater than Cn023
3
Determine if the position error is
greater than Cn024
4 Use input contact G-SEL to switch
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