Chapter 7
Parameter details
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52
2nd position loop gain
●
Function
A position loop gain that functions when the cumulative number of pulses in the deviation counter falls
below the pulse number set by “Parameter setting mode” → “24: “2nd control switching range.”
●
Setting
Unit
Lower limit Upper limit Default
S
－１
10
9999
Note
Note: Setting of this parameter is not required for servo operations under normal operating conditions.
Setting is sometimes effective for applications that require enhanced controllability.
his function does not operate if the value in “Parameter” → “24: “2nd control switching range”
is “0.”
Be certain to consult the HarmonicDrive System sales office about a set value when
a value other than “0” is set to enable this function.
2nd Speed loop proportional gain
●
Function
A speed loop proportional gain that functions when the cumulative number of pulses in the deviation
counter falls below the pulse number set by “Parameter setting mode” → “24: “2nd control switching
range.”
●
Setting
Unit
Lower limit
Upper limit
Default
－
10
9999
Note
Note
：
Setting of this parameter is not required for servo operations under normal operating conditions.
Setting is sometimes effective for applications that require enhanced controllability.
This function does not operate if the value in “Parameter”→ “24: “2nd control switching range”
is “0.”
Be certain to consult the Harmonic Drive System sales office about a set value when
a value other than “0” is set to enable this function.
2nd Speed loop integral gain
●
Function
A speed loop integral gain that functions when the cumulative number of pulses in the deviation
counter falls below the pulse number set by “Parameter setting mode” → 24: “2nd control switching
range.”
●
Setting
Unit
Lower limit
Upper limit
Default
－
0
9999
Note
Note: Setting of this parameter is not required for servo operations under normal operating conditions.
Setting is sometimes effective for applications that require enhanced controllability.
This function does not operate if the value in “Parameter” → 24: “2nd control switching range”
is “0.”
Be certain to consult the HarmonicDrive System sales office about a set value when
a value other than “0” is set to enable this function.
