9 - 13
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-2 Gain
Setti
ngs
9
•
Set the hysteresis width above and below the judgement level set in the Gain Switching Level in
Position Control (3117 hex).
•
The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
•
The Gain Switching Delay Time in Position Control
(3116 hex), Gain Switching Level in Position Control
(3117 hex), and Gain Switching Hysteresis in Position
Control (3118 hex) are defined as shown in the diagram
to the right.
•
The settings for the Gain Switching Level in Position Control (3117 hex) and the Gain Switching
Hysteresis in Position Control (3118 hex) are enabled as absolute values.
•
Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during
position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex).
•
By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when
there is a large change in the position loop gain.
•
If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain 2
(3105 hex), set the Position Gain Switching Time (3119 hex).
•
When the Position Loop Gain 1 increases, the gain changes in the set time.
Position Loop Gain 1 < Position Loop Gain 2
Precautions for Correct Use
Precautions for Correct Use
When the position loop gain is switched to a smaller value, Position Gain Switching Time
(3119 hex) is ignored and the gain is switched immediately.
In the above figure, this operation occurs when switching from Gain 2 to Gain 1.
3118 hex
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20,000
Unit
–
Default
setting
33
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3119 hex
Position Gain Switching Time
Setting
range
0 to 10,000
Unit
0.1 ms
Default
setting
33
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
csp
pp
hm
3117 hex
0
3118 hex
3116 hex
Gain 1
Gain 2
Gain 1
csp
pp
hm
3119 hex
Position Loop Gain 1
Position Loop Gain 2
Position Loop Gain 1
Position Gain Switching Time [ms]
Position Loop Gain 1
Position
Loop Gain 2
