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- App.25 -
Appendixes
PrNo.
Parameter
Range Unit Function
description
• You can set-up the delay time when switching from the 2nd. to
the 1st. gain when the actual status shifts out of the preset
condition with Pr31.
• This parameter is enabled when Pr31 is set to 3,5 and 6, and
you can define the level of judgement for switch from the 1st.
to the 2nd. gain.
• You can set-up the width of the hysteresis to be defined at the
top and bottom of the level of judgement set with Pr33.
The figure below shows the definitions of Pr32 (delay time), Pr33
(switching level) and Pr34 (hysteresis).
<Notes>
The settings of Pr33 (level) and Pr34 (hysteresis) are enabled as
absolute values.
• You can set-up a phased switching time of the gain applied to
the position loop alone, while the 2nd. gain switching function
is enabled.
• Use this parameter only for switching from a smaller position
loop gain to a larger position loop gain (from Kp1 to Kp2) (in
order to reduce the impact forces caused by a large change in
gain).
• Set the smaller value than the difference between
• Kp2 and Kp1.
32
33
34
35
Position control
switching delay
time
Position control
switching level
Position control
switching
hysteresis
Position loop
gain switching
time
0 ~
10000
[ 0 ]
0 ~
10000
[ 0 ]
0 ~
10000
[ 0 ]
0 ~
10000
[ 0 ]
x 166 µs
----
----
(Value+1)
x 166 µs
Pr33
0
Pr34
Pr32
1st gain
2nd gain
1st gain
Pr35=
Kp2(Pr10)
166
166 166
166µs
Kp1(Pr18)
1st gain
(Example)
2nd gain
Bold solid line
Fine solid line
1st gain
0
0
1
1
2
2
3
3
Kp1(Pr10)<Kp2(Pr18)