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[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Parameters for Adjustment (2nd Gain Switching Function)
30 0
to
1
<1>*
–Setup of 2nd gain
You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
Setup value
0
<1>*
Gain selection/switching
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Action of velocity loop
PI action
P action
32
0 to 10000
<30>*
x 166µs1st delay time of
control switching
You can set up the delay time when returning from the 2nd to the 1st gain,
while Pr31 is set to 3 or 5 to 10.
33
0 to 20000
<50>*
–1st level of
control switching
You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
34
0 to 20000
<33>*
–1st hysteresis
of control switching
You can set up hysteresis width to be
implemented above/below the
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
Pr33
0
Pr34
Pr32
1st gain 2nd gain 1st gain
31 0
to
10
<0>*
–1st mode of
control switching
You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*
1
2
3
4
5
6
7
8
9
10
Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching).
2nd gain selection when the positional deviation is larger than the setups of
Pr33 (1st control switching level) and Pr34 (1st hysteresis of control switching).
2nd gain selection when more than one command pulse exist between 166µs.
2nd gain selection when the positional deviation counter value exceeds the setup of
Pr60 (Positioning completer range).
2nd gain selection when the motor actual speed exceeds the setup of
Pr33 (1st level of control switching) and Pr34 (1at hysteresis of control switching) .
Switches to the 2nd gain while the position command exists.
Switches to the 1st gain when no-position command status lasts for the setup of Pr32 [x 166µs]
and the speed falls slower than the setups of Pr33–34[r/min].
*2
*2
*2
*2
*2
*2
*2
*2
*1
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content