7-33
Cn016 Switch condition of PI/P mode (torque command)
【
6-7-1
】
Initial Value Unit Setting Range Effective Cn029 Reset
200 % 0 ~ 399 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
0011H 2010H 2010H O O O O --
Setting Description: First set Cn015.0=0, When the Torque Command is smaller than the Cn016 Switching Condition, it is
PI control; when the Torque Command is greater than the Cn016 Switching Condition, then switch to
only P Control.
Cn017 Switch condition of PI/P mode (speed command)
【
6-7-1
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 rpm 0 ~ 1.5*Rated Speed -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
0012H 2011H 2011H O O O O --
Setting Description: First set Cn015.0=1, When the Speed Command is smaller than the Cn017 Switching Condition, it is
PI control; when the Speed Command is greater than the Cn017 Switching Condition, then switch to
only P Control.
Cn018 PI/P Mode Switching Condition (Acceleration Command)
【
6-7-1
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 rps/s 0 ~ 18750 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
0013H 2012H 2012H O O O O --
Setting Description: First set Cn015.0=2, When the Acceleration Command is smaller than the Cn018 Switching
Condition, it is PI control; when the Acceleration Command is greater than the Cn018 Switching
Condition, then switch to only P Control.
Cn019 PI/P Mode Switching Condition (Position Error)
【
6-7-1
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 pulse 0 ~ 41943040 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
0014H/0015H 2013H 2013H O O O O --
Setting Description: First set Cn015.0=3, When the Position Error is smaller than the Cn019 Switching Condition, it is PI
control; when the Position Error is greater than the Cn019 Switching Condition, then switch to only P
Control.
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