9-9
9-1 Parameter Tables
Appe
ndix
9
030
Gain Switching
Operating Mode
Selection (RT)
Enables or disables gain switching.
When enabled, the setting of the Gain Switch
Setting (Pn031) is used as the condition for
switching between gain 1 and gain 2.
1
---
0 to 1
B
0
Disabled. Uses Gain 1 (Pn010 to Pn014).
PI/P operation is switched from
MECHATROLINK-II.
1
The gain is switched between Gain 1
(Pn010 to Pn014) and Gain 2 (Pn018 to
Pn01C).
031
Gain Switch
Setting (RT)
Sets the trigger for gain switching.
The details depend on the control mode.
2
---
0 to 10
B
0
Always Gain 1
1
Always Gain 2
2
Switching from the network
3
Degree of change in torque command
4
Always Gain 1
5
Speed command
6
Amount of position deviation
7
Position command pulses received
8
Positioning Completed Signal (INP) OFF
9
Actual Servomotor speed
10
Combination of position command pulses
received and speed
032
Gain Switch Time
(RT)
Enabled when the Gain Switch Setting (Pn031) is
set to 3, or 5 to 10. Sets the lag time from the trigger
detection to actual gain switching when switching
from gain 2 to gain 1.
30
×
166
μ
s
0 to
10000
B
033
Gain Switch
Level Setting
(RT)
Sets the judgment level to switch between Gain 1
and Gain 2 when the Gain Switch Setting (Pn031)
is set to 3, 5, 6, 9, or 10. The unit for the setting
depends on the condition set in the Gain Switch
Setting (Pn031).
600
---
0 to
20000
B
034
Gain Switch
Hysteresis
Setting (RT)
Sets the hysteresis of the judgment level for the
Gain Switch Level Setting (Pn033) when the Gain
Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.
The unit for the setting depends on the condition set
for the Gain Switch Setting (Pn031).
50
---
0 to
20000
B
035
Position Loop
Gain Switching
Time (RT)
This parameter can prevent the position loop gain
from increasing suddenly when the position loop
gain and position loop gain 2 differ by a large
amount.
When the position loop gain increases, it takes the
duration of (set value + 1)
×
166
μ
s.
20
×
166
μ
s
0 to
10000
B
036
Reserved
Do not change.
0
---
---
---
037
Reserved
Do not change.
0
---
---
---
038
Reserved
Do not change.
0
---
---
---
039
Reserved
Do not change.
0
---
---
---
03A
Reserved
Do not change.
0
---
---
---
03B
Reserved
Do not change.
0
---
---
---
03C
Reserved
Do not change.
0
---
---
---
03D
Jog Speed
Sets the jog operation speed with the Parameter
Unit or CX-Drive.
200
r/min
0 to 500
---
03E
Reserved
Do not change.
0
---
---
---
03F
Reserved
Do not change.
0
---
---
---
Pn
No.
Parameter name Setting
Explanation
Default
Setting
Unit
Setting
Range
Attribute
Set
value
