− App.
41
−
Appendixes
PrNo.
Parameter Range Unit
Function
description
・You can set-up the delay time when switching from
the 2nd. to the 1st. gain when the actual status shifts
out of the preset condition with Pr31.(see page 62)
・This parameter is enabled when Pr31 is set to 3, 5
and 6, and you can define the level of judgement for
switch from the 1st. to the 2nd. gain.
・You can set-up the width of the hysteresis to be de-
fined at the top and bottom of the level of judgement
set with Pr33.
・The figure below shows the definitions of Pr32 (delay
time), Pr33 (switching level) and Pr34 (hysteresis).
<Notes>
The settings of Pr33 (level) and Pr34 (hysteresis) are
enabled as absolute values.
・You can set-up a phased switching time of the gain
applied to the position loop alone, while the 2nd.
gain switching function is enabled.
・Use this parameter only for switching from a smaller
position loop gain to a larger position loop gain
(from Kp1 to Kp2) (in order to reduce the impact
forces caused by a large change in gain).
・Set the smaller value than the difference between
KP2 and KP1.
32
33
34
35
Position control
switching delay
time
Position control
switching level
Position control
switching
hysteresis
Position loop
gain switching
time
0 〜
10000
【0】
0 〜
10000
【0】
0 〜
10000
【0】
0 〜
10000
【0】
×166μs
ー
ー
(Value+1)
×166μs
Pr33
0
Pr34
Pr32
1st gain
2nd gain
1st gain
Pr35=
Kp2(Pr10)
166
166
166
166μs
Kp1(Pr18)
1st gain
(Example)
2nd gain
Bold solid line
Fine solid line
1st gain
0
0
1
1
2
2
3
3
Kp1(Pr10)<Kp2(Pr18)
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