7-35
Setting Description: Set Cn015.1=2 first, when the Acceleration Command is less than the Cn023 switching condition, use
the first stage gain control; when the Acceleration Command is greater than the Cn023 switching
condition, then switch to the second stage gain control. If the Acceleration Command is less than the
Cn023 switching condition again, it will switch to the first stage gain control in accordance with
Cn020 Switching Delay Time.
Cn024 Switch condition of two stage gain mode (position error)
【
6-7-2
】
Initial Value Unit Setting Range Effective Cn029 Reset
0 pulse 0 ~ 41943040 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
001AH/001BH 2018H 2018H O O O O --
Setting Description: Set Cn015.1=3 first, when the Position Error is less than the Cn024 switching condition, use the first
stage gain control; when the Position Error is greater than the Cn024 switching condition, then switch
to the second stage gain control. If the Position Error is less than the Cn024 switching condition
again, it will switch to the first stage gain control in accordance with Cn020 Switching Delay Time.
Cn025 Load Inertia Ratio
【
6-2
】
Initial Value Unit Setting Range Effective Cn029 Reset
10 0.1 0 ~ 2000 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
001CH 2019H 2019H O O O O --
Setting Description:
LoadInertiaRatio
ConverttotheLoadInertiaoftheMotorShaftJ
ServoMotorRotorInertiaJ
100%
Cn026 Rigidity Setting
【
6-3
】
Initial Value Unit Setting Range Effective Cn029 Reset
9 -- 1 ~ 21 -- --
RS-485 CANopen EtherCAT Pi Pe Pt S T
001DH 201AH 201AH O O O O O
Setting Description:
Description
Setti
ng
Position
Loop
Gain
Pn310
[1/s]
Speed
Loop Gain
Sn211
[Hz]
Speed Loop
Integration
Time
Constant
Sn212
[0.01ms]
Torque
command
smoothing
filter
Cn034
[Hz]
Setti
ng
Position
Loop
Gain
Pn310
[1/s]
Speed
Loop Gain
Sn211
[Hz]
Speed Loop
Integration
Time Constant
Sn212
[0.01ms]
Torque
command
smoothing
filter
Cn034 [Hz]
1
2 2 28000 16
12
70 70 1000 560
2
3 3 19000 24
13
85 85 1000 680
3
6 6 9000 48
14
100 100 800 800
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