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[Connection and setup of velocity control mode]
Connection and Setup of
Velocity 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
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>*, 6 to 10
1
2
3
4
5
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).
*2
*2
*2
*1
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
2F 0 to 64
<0>
–Adaptive filter
frequency
Displays the table No. corresponding to the adaptive filter frequency.
(Refer to P.234 of Adjustment.) This parameter will be automatically set
and cannot be changed while the adaptive filter is valid. (when Pr23
(Setup of adaptive filter mode) is other than 0.)
0 to 4 Filter is invalid.
5 to 48 Filter is valid.
49 to 64 Filter validity changes according to Pr22.
This parameter will be saved to EEPROM every 30 minutes while the
adaptive filter is valid, and when the adaptive filter is valid at the next
power-on, the adaptive action starts taking the saved data in EEPROM as
an initial value.
<Caution>
When you need to clear this parameter to reset the adaptive action while
the action is not normal, invalidate the adaptive filter (Pr23, "Setup of
adaptive filter mode" to 0) once, then validate again.
Refer to P.239, "Release of Automatic Gain Adjusting Function" of
Adjustment as well.
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content