Maxsine EP3 AC Series, User Manual

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4.8 Gains switching
89
4.8 Gains switching
Through internal condition or external signals carry on gains switching to achieve the
following goals:
 When the servomotor is in stop condition (servo driver is locking),make a switching for low
gain in order to suppress the vibration and the incisive noise;
 When the servomotor is in stop condition, make a switching for high gain in order to enlarge
the rigidity of the servo system;
 When the servomotor is in running condition, make a switching for high gain in order to
obtain the better tracking performance and the small positioning time;
 According to the load situation, switching different gain achieves the optimizing control.
Showing below there are the first group and the second group of gain. Each group has four
parameters. The first group will switch to the second group or vice versa.
First gain group Second gain group
Paramet
er
Name
Parame
ter
Name
P005 First gain of speed loop P010 Second gain of speed loop
P006
First integral time constant of
speed loop
P011
2nd integral time constant of
speed loop
P007
Time constant of filter for first
torque
P012
Time constant of filter for
second torque
P009 First gain of position loop P013 Second gain of position loop
4.8.1 Parameters for gain switching
The parameters related to the gain switching are:
Paramete
r
Name range
Default
value
Unit
Usag
e
P208 Gain switching selection 0
～
5 0 ALL
P209 Level of gain switching 0 ～ 32767 100 ALL
P210
Level hysteresis of gain
switching
0
～
32767 5 ALL
P211 Delay time of gain switching 0
～
3000 5 ms ALL
P212 Time of gain switching 0
～
3000 5 ms ALL