5-32
5-16 Gain Switching
Ope
rati
n
g Func
tions
5
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference page
Pn030
Gain Switching
Operating Mode
Selection
Enable or disable gain switching.
5-72
Pn031
Gain Switch
Setting
Sets the condition for switching between gain 1 and gain 2.
The conditions depend on the control mode.
5-72
Pn010
Position Loop Gain
Sets position loop responsiveness.
5-67
Pn011
Speed Loop Gain
Sets speed loop responsiveness.
5-67
Pn012
Speed Loop
Integration Time
Constant
Adjusts the speed loop integration time constant.
5-67
Pn013
Speed Feedback
Filter Time
Constant
Selects the speed detection filter time constant.
5-67
Pn014
Torque Command
Filter Time
Constant
Sets the time constant for the torque command filter.
5-68
Pn018
Position Loop
Gain 2
Sets the 2nd position loop responsiveness.
5-68
Pn019
Speed Loop Gain 2 Sets the 2nd speed loop responsiveness.
5-68
Pn01A
Speed Loop
Integration Time
Constant 2
Adjusts the speed loop integration time constant 2.
5-68
Pn01B
Speed Feedback
Filter Time
Constant 2
Selects the speed detection filter time constant.
5-68
Pn01C
Torque Command
Filter Time
Constant 2
Sets the time constant for the 2nd torque command filter.
5-68
Pn032
Gain Switch
Time
Sets the time to return from gain 2 to gain 1.
(Units: 166
μ
s
)
5-72
Pn033
Gain Switch
Level Setting
Sets the judgment level for switching between gain 1 and
gain 2.
5-72
Pn034
Gain Switch
Hysteresis Setting
Sets the hysteresis width for the judgment level set in the
Gain Switch Level setting (Pn033).
5-73
Pn035
Position Loop Gain
Switching Time
Sets the number of steps to switch from low gain to high
gain. (Units: 166
μ
s
)
5-73