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7-27
7-5 Manual Tuning
7
Adjustment Functions
Setting Gain Switching Conditions
Position Control Mode (
: Relevant parameter enabled, ---: Disabled)
Parameter
No.
Name
Perform
manual tuning
without gain
switching.
Set Gain 2
(Pn18 to Pn1C)
to the same
values as Gain
1 (Pn10 to
Pn14).
Set gain
switching
conditions
(Pn30 to Pn35).
Adjust Pn11
and Pn14
(for Gain 1)
when stopped.
Pn20
Inertia Ratio
•
Enter the
value for
load calcu-
lation if
already
known.
•
Perform
normal
mode auto-
tuning and
measure
the inertia
ratio.
•
The default
is 300.
Pn30
Gain Switching Input
Operating Mode Selection
0
1
Pn31
Control Gain Switch 1 Setting
7
Pn32
Gain Switch 1 Time
30
Pn33
Gain Switch 1 Level Setting
0
Pn34
Gain Switch 1 Hysteresis
Setting
0
Pn35
Position Loop Gain Switching
Time
0
Gain Switch Setting
Setting parameters for position control mode
Pn31
Conditions for switching to
gain 2
Fig-
ure
Gain Switch Time
*1
Gain Switch Level
Setting
Gain Switch Hysteresis
Setting
*2
Pn32 Pn33 Pn34
0
Always gain 1
---
---
---
---
1
Always gain 2
---
---
---
---
2
Switching using Gain Switch
Input (GSEL)
---
---
---
---
3
Amount of change in torque
command
---
*3
(0.05%/166
μ
s)
*3
(0.05%/166
μ
s)
4
Always gain 1
A
---
---
---
5
Command speed
---
(r/min)
(r/min)
6
Amount of position deviation
C
*4
(pulse)
*4
(pulse)
7
Command pulses received
D
---
---
8
Positioning Completed
Output
F
---
---
9
Actual Servomotor speed
C
(r/min)
(r/min)
10
Combination of command
pulse input and speed
G
(r/min)
*6
(r/min)
*6
Summary of Contents for R88D-GT series
Page 20: ...18 Table of Contents ...
Page 234: ...3 133 3 8 Reactor Specifications 3 Specifications ...
Page 448: ...7 37 7 5 Manual Tuning 7 Adjustment Functions ...
Page 474: ...8 25 8 5 Periodic Maintenance 8 Troubleshooting ...
Page 475: ...Chapter 9 Appendix 9 1 Connection Examples 9 1 9 2 Parameter Tables 9 11 ...
Page 509: ......