4-22
Pr1.23
Hysteresis at velocity control switching
Range
Unit
Default
Related
control mode
0 to 20000
Mode-
dependent
0
S
Caution
For velocity controlling: Set up triggering hysteresis when Pr1.20 Velocity control gain
switching mode is set at 3, 4 or 5.
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.
Pr1.24
Mode of torque control switching
Range
Unit
Default
Related
control mode
0 to 3
—
0
T
For torque 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.
Pr1.25
Delay time of torque control switching
Range
Unit
Default
Related
control mode
0 to 10000
0.1 ms
0
T
For torque controlling : When shifting from the 2nd gain to the 1st gain with Pr1.24 Torque
control switching mode set at 3, set up the delay time from trigger detection to the switching
operation.
Pr1.26
Level of torque control switching
Range
Unit
Default
Related
control mode
0 to 20000
Mode-
dependent
0
T
Caution
For torque controlling: Set up triggering level when Pr1.24 Torque control gain switching
mode is set at 3.
Unit varies depending on the setup of mode of control switching.
Set the level equal to or higher than the hysteresis.
Pr1.27
Hysteresis at torque control switching
Range
Unit
Default
Related
control mode
0 to 20000
Mode-
dependent
0
T
Caution
For torque controlling: Set up triggering hysteresis when Pr1.24 Torque control gain
switching mode is set at 3.
Unit of setting varies with switching mode.
When level < hysteresis, the hysteresis is internally adjusted so that it is equal to level.
From Pr1.28 toPr1.78 are all parameters for manufacturer's use.Please do not change the default parameters.
1. Details of parameter
[Class 1] Gain adjustment
Default: [ ]
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