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- App. 54 -
Pr31
0
1
2
3
4
5
6
7
8
Figure
A
B
C
D
E
Switching conditions
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, 2nd gain
selected with GAIN On
2nd gain selected with a large
torque command differentia
l
Fixed to 1st gain
Large target velocity commanded
Large position error
Position command existing
Positioning incomplete
Delay time
Åñ1
Pr32
-----
-----
-----
-----
Level
Pr33
-----
-----
-----
*
3
(0.05%/166 µ s )
-----
(r/min)
*4
(pulse)
-----
-----
Hysteresis
Åñ2
Pr34
-----
-----
-----
*
3
(0.05%/166 µ s )
-----
(r/min)
*4
(pulse)
-----
-----
Specifications
Gain Switching Conditions
ÅúPosition Control Mode ( : the parameter valid, -: invalid)
Parameters for position control
Gain switching conditions
*1
Delay time (parameters Pr32) becomes effective when returning from 2nd gain to 1st gain.
*2 For the definitions of hysteresis parameters
(Pr34), see the right figure.
*3 When conditions are that torque fluctuation of
10% was experienced in the 166 É s area, set up
the value 200.
10%/166 É s = Set-up value [200] x (0.05%/166 µs )
*4 Resolution of encoder
· Figures A through E are shown in the next page.
Internal velocity control mode
Gain switching is disabled(fixed to 1
st
gain).
Hysteresis
Level
(Pr33.38.3C)
0
H
L