SD20-G Series
264
Po130
Gain switching setting
Position Speed
Setting Range
Setting Unit
Mfr’s Value
Effect
0~6
N/A
0
Immediate effect
The setting of Po130 can realize the switchover between gain 1 and gain 2 according to different
conditions.
Gain 1 includes speed loop proportional gain 1(Po101), speed loop integral time 1(Po102) and position
loop proportional gain 1(Po301), first speed loop filter time constant (Po105), torque filter time constant
(Po214).
Gain 2 includes speed loop proportional gain 2(Po103), speed loop integral time 2 (Po104) and positon
loop proportional gain 2(Po302), speed loop filter time constant (Po106), torque filter time constant
(Po215).
Parameter
Content
Po130=0
No switch, default to use gain 1
Po130=1
No switch, default to use gain 2
Po130=2
Switch to gain 2 Immediate when speed is higher than the setting value of Po131, if
speed is lower than Po131, after delay the setting time of Po135(0.1ms), switch to
gain 1.
Po130=3
Switch terminal control, use gain 1 if the switching terminal defined in CN3 is
invalid; use gain 2 if valid.
Po130=4
Switch to gain 2 Immediate when position error is higher than the setting value of
Po132; If lower than Po131, delay the setting time of Po135 (0.1ms), switch to gain
1.
Po130=5
Switch to gain 2 Immediate ifthere is pulse input; if there is no pulse input, delay the
setting time of Po135(0.1ms), then switch to gain 1.
Po130=6
Switch to gain 2 Immediate if there is pulse input; If there is no pulse input and the
speed is lower than Po131, delay the setting time of Po135(0.1ms), then switch to
gain 1.
Summary of Contents for SD20-G Series
Page 35: ...SD20 G Series 35 M3 structure Fig 3 1 5 Servo drive structure 3...
Page 36: ...SD20 G Series 36 ML3 structure 118 5 5 7 5 93 297 8 223 118 93 0 5 12 5 7 5 4 M4...
Page 38: ...SD20 G Series 38 M4 structure Approx mass 10 365 kg Fig 3 1 7 Servo drive structure 5...
Page 39: ...SD20 G Series 39 M5 structure Approx msaa 11 1Kg Fig 3 1 8 Servo drive structure 6...
Page 40: ...SD20 G Series 40 M6 structure Approx mass 17 4Kg Fig 3 1 9 Servo drive structure 7...
Page 182: ...SD20 G Series 182 Fig 6 4 44SD20E Cam internal frameworkdiagram...
