81
parameter P5-16.
P5-13=3
: the position command frequency is greater than the set value of the parameter
P5-16.
P5-13=4
: the servo motor rotation speed is greater than the value of parameter P5-16.
P5-13=5
: retention
P5-13=6
: under position Mode Control, the position error is less than the set value of the
parameter P5-16.
P5-13=7
: the position command frequency is less than the set value of the parameter P5-16.
P5-13=8
: the servo motor rotating speed is less than the set value of the parameter P5-16.
P5-13=9
: retention
P5-13=10~17
when switching for PI-P:
P5-13=10
: retention
P5-13=11
: under position Mode Control, the position error is greater than the set value of
the parameter P5-16.
P5-13=12
: the position command frequency is greater than the set value of the parameter
P5-16.
P5-13=13
: when the servo motor rotation speed is greater than the reference value of P5-16.
P5-13=14
: retention
P5-13=15
: position Mode Control, the position error is less than the set value of the
parameter P5-16.
P5-13=16
: the position command frequency is less than the set value of the parameter
P5-16.
P5-13=17
: when the servo motor rotating speed is less than the set value of the parameter
P5-16.
P5-14
Gain switching time
Initail value
Unit
Communication
Address
5
ms
250EH
Control Mode
：
P S
Range
：
0
～
3000
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
When the gain switching condition is satisfied, the gain is changed linearly to the target gain value during this time (0:
close the function). Please refer to figure 7-20.
P5-15
Gain delay time
Initail value
Unit
Communication
Address
5
ms
250FH
Control Mode
：
P S
Range
：
0
～
3000
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
When the gain switching condition is achieved, the switching condition must maintain the time set by the parameter then
to start the switch, so as to avoid the error caused by the interference and other factors, the system isn‘t stable. Please refer to figure 7-20.
P5-16
Gain switching threshold
Initail value
Unit
Communication
Address
100
1puls
0.1Kpps
1rpm
2510H
Control Mode
：
P S
Range
：
0
～
32767
Data size
：
16bit
Display mode
：
Decimal system
Parameter function
：
Set gain switching threshold
When the motor stops, switch to low gain to suppress vibration and sharp noise.
When the motor stops, switch to high gain in order to increase the rigidity of servo.
When the motor runs, switch to higher gain to obtain better instruction follow
Performance and smaller position time.
According to the operation of load equipment switch different gain in order to
achieve optimal control.
