4-21
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
Note
Related page
• A parameter is designated as follows:
Pr0.00 Parameter No.
Class
• For parameters which No. have a suffix of “
*
”
, changed contents will be validated
when you turn on the control power.
• P.3-32... “Inputs and outputs on connector X4”
Default: [ ]
Pr1.20
Mode of velocity control switching
Range
Unit
Default
Related
control mode
0 to 5
—
0
S
For velocity controlling: Set the condition to trigger gain switching.
Setup value
Switching condition
Gain switching condition
[0]
Fixed to the 1st gain.
Fixed to the 1st gain (Pr1.00 to Pr1.04).
1
Fixed to the 2nd gain.
Fixed to the 2nd gain (Pr1.05 to Pr1.09).
2
Gain switching input
• 1st gain when the gain switching input (GAIN) is open.
• 2nd gain when the gain switching input (GAIN) is connected to
COM–.
*
If no input signal is allocated to the gain switching input (GAIN),
the 1st gain is fixed.
3
Torque command
• Shift to the 2nd gain when the absolute value of the torque
command exceeded (level + hysteresis) (%) previously with
the 1st gain.
• Return to the 1st gain when the absolute value of the torque
command was kept below (level - hysteresis) (%) previously
during delay time with the 2nd gain.
4
Speed command
variation is larger.
• Valid only during velocity control.
• Shift to the 2nd gain when the absolute value of the speed
command variations exceeded (level + hysteresis) (10 r/min/s)
previously with the 1st gain.
• Return to the 1st gain when the absolute value of the speed
command variations was kept below (level - hysteresis)
(10 r/min/s) during delay time previously with the 2nd gain.
*
The 1st gain is fixed while the velocity control is not applied.
5
Speed command
is large
• Valid for velocity
controls.
• Shift to the 2nd gain when the absolute value of the speed
command exceeded (level + hysteresis) (r/min) previously
with the 1st gain.
• Return to the 1st gain when the absolute value of the
speed command was kept below (level - hysteresis) (r/min)
previously during delay time with the 2nd gain.
For the switching level and timing, refer to P.5-32, "Setup of Gain Switching Condition" of Adjustment.
Pr1.21
Delay time of velocity control switching
Range
Unit
Default
Related
control mode
0 to 10000
0.1 ms
0
S
For velocity controlling: When shifting from the 2nd gain to the 1st gain with Pr1.20 Velocity
control switching mode set at 3, 4 or 5, set the delay time from trigger detection to the
switching operation.
Pr1.22
Level of velocity control switching
Range
Unit
Default
Related
control mode
0 to 20000
Mode-
dependent
0
S
Caution
For velocity controlling: Set up triggering level when Pr1.20 Velocity control gain switching
mode is set at 3, 4 or 5.
Unit of setting varies with switching mode.
Set the level equal to or higher than the hysteresis.
1. Details of parameter
[Class 1] Gain adjustment
Related page
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