Estun pronet series, User Manual

Page: 179 / 193

ProNet Series AC Servo User's Manual
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Parameter
No.
Description
Setting
Validation
Control
Mode
Function and Meaning
Pn118
Offset counter
switching threshold
Immediately P
Threshold of error counter to switch PI control to P
control.
Unit: pulse
Pn119
Setting acceleration
speed switching
threshold
Immediately P
，
S
Threshold of acceleration speed to switch PI control to
P control.
Unit: 10rpm/s
Pn120
Setting speed
switching threshold
Immediately P
，
S
Threshold of speed to switch PI control to P control.
Unit: rpm
Pn121
Gain switching
condition After restart P ， S
0: Fix to 1st group gain
1: External switch gain switching(G-SEL)
2: Torque percentage
3: Value of offset counter
4: Value of acceleration speed setting （ 10rpm ）
5: Value of speed setting
6: Speed reference input
7: actual motor speed
Pn122
Switching delay time Immediately
P ， S
Delay time of switching gain when switching condition
is satisfied.
Pn123
Switch threshold level Immediately P
，
S Gain switching trigger level
Pn124
Reserved
— — —
Pn125
Position gain
switching time
Immediately P
This parameter is used to smooth transition if the
change of the two groups of gain is too large.
Pn126
Hysteresis switching Immediately P
，
S
This parameter is used to set the operation hysteresis
of gain switching.
Pn127
Low speed detection
filter
Immediately P
，
S
This parameter is used to filter in low speed detection.
The speed detection will be lagged if the value is too
large.
Pn128
Speed gain
acceleration
relationship during
online autotuning
Immediately P ， S
The increasing multiple of speed loop gain is the same
rigidity during online autotuning. The speed loop gain
is larger when this value is higher.
Pn129
Low speed correction
coefficient
Immediately
P ， S
The intensity of anti-friction and anti-creeping at low
speed. Vibration will occur if this value is set too large.
Pn130
Friction Load Immediately P
，
S Frictin load or fixed load compensation
Pn131
Friction
compensation speed
hysteresis area
Immediately P
，
S Threshold of friction compensation start
Pn132
Sticking friction load Immediately P ， S Sticking damp which is in direct proportion to speed.
Pn133
Reserved — — —
Pn134
Reserved — — —
Pn135
Reserved — — —
Pn136
Reserved — — —
Pn137
Reserved — — —