139
[Gain Adjustment]
Gain Adjustment
*1 Delay time (Pr32) will be validated upon return from second gain to first gain.
*2 Definition of hysteresis (Pr34) is as illustrated in the figure below:
*3 If the condition that there is torque variation of 10% during 166
µ
s is included, setting should be
200.
10% / 166
µ
s = setting 200 x (0.05% / 166
µ
s)
*4 Resolution of the encoder
*5 When Pr31=10, delay time, level and hysteresis mean differently from usual cases (See Figure G).
Hysteresis
Level
(Pr33)
(Pr34)
0
H
L
<Caution>
Any lag in gain switching timing due to hysteresis (Pr34) is not reflected in the above figure.
Speed N
Figure A
Torque T
Level
Delay
1st gain
2
2
1
2
2
1
1
1
Command speed S
Figure C
Level
Delay
2nd gain
1st
1st
Speed N
Deviation pulse
Figure D
Level
Delay
2nd gain
1st
1st
Command speed S
Figure E
Delay
2nd gain
1st
1st
Speed N
Figure F
Figure G
Delay
2nd gain
1st
COIN
1st
When stopped
There is
command pulse
There is no command pulse
x Pr32 delay time
| Actual speed |<
Pr 33 level
| Actual speed | < (Pr33 level – Pr34 Hysteresis)
| Actual speed | < (Pr33 level – Pr34 Hysteresis)
1st gain
During operation
2nd gain
When stabilized
2nd gain
Close to stop
Only speed integration is 2nd
gain, while others are 1st gain.
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