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Parameter Setting
Parameters for Switching to 2nd Gains
30 0 – 1 –2nd gain action
set up
• The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
*1 Switching of 1 PI/P operation is done through gain switching inpu
t
(GAIN CN X5 27-pin).
*2 For conditions of switching between the 1st and 2nd gains, refer to
“Adjustment upon switching gain” of Adjustment volume on page 202.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
GAIN input
Open with COM–
Connect to COM–.
Operation of speed loop
PI operation
P operation
3A 0 – 3 –Torque control
switching mode
• The parameter selects conditions for switching between the 1st and 2nd
gains in torque control mode.
• This is same as Pr31 except parts related to position and speed control.
*1 For details on levels to be switched, refer to “Adjustment upon switching
gain” of Adjustment volume on page 202.
Setting value
[0]*
1
2
3
Conditions for Switching Gains
Fixed to the 1st gain.
Fixed to the 2nd gain.
With the gain switching input (GAIN) turned ON, 2nd gain is
selected. (Pr30 should be set to 1.)
With much variation of torque command, the 2nd gain is
selected.
3B
3C
3D
0
–
10000
[0]
0
–
20000
[0]
0
–
20000
[0]
x 166µs
–
–
Torque control
switching delay time
Torque control
switching level
Torque control
switching hysteresis
• This is same as content of:
Pr32: Switching delay time
Pr33: Switching level
Pr34: Hysteresis at switching”
in position control mode.
Parameter
No.
Setting
range
Parameter Name Unit Function/Description
Default setting is shown by [
]
*1
Parameters for Position Control
44
1
–
16384
[2500]
Output pulses per
single turn
The parameter sets number of pulses per one revolution of encoder pulse to be out
-
put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
Parameter
No.
Setting
range
Parameter Name Function/Description
Default setting is shown by [
]
45 0 – 1Pulse output
logic inversion
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
Setting value
[0]
1
A pulse(OA)
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
IWhen Motor is Rotating
in CCW direction
IWhen Motor is Rotating
in CW direction