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244
*1 Delay time (Pr32 and 37) will be valid only when returning from 2nd to 1st gain.
*2 Hysteresis is defined as the fig. below shows.
*3 When you make it a condition that there is 10% torque variation during 166µs, set up the value to 200.
10%/166µs = Setup value 200 x [0.05%/166µs]
*4 Designate with either the encoder resolution or the external scale resolution depending on the control mode.
*5 When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1.
*6 When Pr31=10, the meanings of delay time, level and hysteresis are different from the normal. (refer to Fig. G)
Hysteresis
(Pr34, 39)
Level
(Pr33, 38)
0
H
L
Setup of Gain Switching Condition
Manual Gain Tuning (Basic)
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
0
1
2
3
4
5
6
7
8
9
10
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is large.
Fixed to 1st gain
Speed command is large.
Position deviation/Full-closed
position deviation is large
Position command exists.
Not in positioning complete nor in
full-closed positioning complete
Speed
Command exists + velocity
A
C
D
E
F
C
G
Delay time *1
Pr32
-
-
-
-
Setup parameters at position control, full-closed control
Level
Pr33
-
-
-
*3[0.05%/166µs]
-
[r/min]
*4[pulse]
-
-
[r/min]
[r/min] *6
Setup of gain switching condition
Switching condition to 2nd gain Fig.Pr31
Hysteresis *2
Pr34
-
-
-
*3[0.05%/166µs]
-
[r/min]
*4[pulse]
-
-
[r/min]
[r/min]*6
• Velocity control mode
0
1
2
3
4
5
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is
large.
Variation of speed command is
large.
Speed command is large.
A
B
C
Delay time *1
Pr32, 37
-
-
-
Setup parameters at velocity control mode
Level
Pr33, 38
-
-
-
*3
[0.05%/166µs]
*5
[10(r/min)/s]
[r/min]
Setup of gain switching condition
Switching condition to 2nd gain Fig.
Pr31,36
Hysteresis *2
Pr34, 39
-
-
-
*3
[0.05%/166µs]
*5
[10(r/min)/s]
[r/min]
• Torque control mode
0
1
2
3
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is
large.
A
Delay time *1
Pr32, 37
-
-
-
Setup parameters at torque control mode
Level
Pr33, 38
-
-
-
*3
[0.05%/166µs]
Setup of gain switching condition
Setup of gain switching condition Fig.
Pr31,36
Hysteresis *2
Pr34, 39
-
-
-
*3
[0.05%/166µs]