36
2509.06
Uint16
Gear_Divider[3]
Dec
2509.07
Int16
Gear_Factor[4]
Dec
2509.08
Uint16
Gear_Divider[4]
Dec
2509.09
Int16
Gear_Factor[5]
Dec
2509.0A
Uint16
Gear_Divider[5]
Dec
2509.0B
Int16
Gear_Factor[6]
Dec
2509.0C
Uint16
Gear_Divider[6]
Dec
2509.0D
Int16
Gear_Factor[7]
Dec
2509.0E
Uint16
Gear_Divider[7]
Dec
The actual gear ratio is Gear_Factor[x], Gear_Divider[x], whereas x is the BCD code of
bit 0: Multifunction0
bit 1: Multifunction1
bit 2: Multifunction2
A bit which is not configured to a DIN is 0.
Example:
Figure 5-11 Din gear ratio switch example
Multifunction0=0, Multifunction1=1, Multifunction2=1, so x=6, actual gear ratio is Gear_Factor[6],
Gear_Divider[6].
5.5.4 Gain switch (expert only)
Information
This function is recommended for experienced users only, who are familiar with the basics of
servo loop tuning.
There are 4 groups of PI gain settings, where each group contains the proportional (Kvp) and integral (Kvi)
gain of the velocity control loop and the proportional gain (Kpp) of the position control loop. The CMMB
motor controller provides several methods for selecting a group of PI gain settings dynamically.
Table 5-5: PI gain setting group parameters
Internal address
Type
Name
Value
Unit
60F9.01
Uint16
Kvp[0]
Dec, Hz
60F9.02
Uint16
Kvi[0]
Dec
60FB.01
Int16
Kpp[0]
Dec. Hz
2340.04
Uint16
Kvp[1]
Dec, Hz
