5-36
5-16 Gain Switching
Ope
rati
n
g Func
tions
5
Gain switching in position control mode
In position control mode the Gain Switch Setting (Pn031) changes as follows.
(O: Supported,
x
: Not supported)
Gain switching in speed control mode
In speed control mode the Gain Switch Setting (Pn031) changes as follows.
(O: Supported,
x
: Not supported)
Pn031
setting
Switching condition
Gain Switch
Time (Pn032)
Gain Switch
Level Setting
(Pn033)
Gain Switch
Hysteresis
Setting (Pn034)
Position Loop
Gain Switching
Time (Pn035)
0
Always Gain 1
x
x
x
x
1
Always Gain 2
x
x
x
x
2
Switching from the network
x
x
x
O
3
Amount of change in torque
command
O
O
(
×
0.05%)
O
(
×
0.05%)
O
4
Always Gain 1
x
x
x
x
5
Speed command
O
O
(r/min)
O
(r/min)
O
6
Amount of position deviation
O
O
(pulse)
O
(pulse)
O
7
Position command pulses
received
O
x
x
O
8
Positioning Completed
Signal (INP1) OFF
O
x
x
O
9
Actual Servomotor speed
O
O
(r/min)
O
(r/min)
O
10
Combination of position
command pulses received
and speed
O
O
O
O
Pn031
setting
Switching condition
Gain Switch
Time (Pn032)
Gain Switch
Level Setting
(Pn033)
Gain Switch
Hysteresis
Setting (Pn034)
0
Always Gain 1
x
x
x
1
Always Gain 2
x
x
x
2
Switching from network
x
x
x
3
Amount of change in torque
command
O
O
(
×
0.05%)
O
(
×
0.05%)
4
Always Gain 1
x
x
x
5
Speed command
O
O
(r/min)
O
(r/min)