response. When the parameter approaches closer to 0, it means the IP action is growing stronger, vice versa. Parameter functions: This parameter is only valid when P4-00≠0, i.e. the gain is in the automatic adjustment mode 1, 2, 3 or 4. It is used when P4-01 cannot be set higher to improve the speed loop gain. Specifically: Speed loop gain = In the automatic adjustment mode, increasing the set value can improve the response of the servo in low rigidity scenarios. However, if the value is set too great, vibration may be caused Parameter functions: This parameter is only valid when P4-00 = 1 or 2, i.e. the gain is in the automatic adjustment mode 1 or 2.
It is used to determine the relation between the speed bandwidth and the position bandwidth. This parameter is based on the automatic control theory, i.e. the speed bandwidth shall be at least 4 times the position bandwidth. Generally it shall not be regulated, and specifically may not be down-regulated. Parameter functions: When P4-00 = 0, namely in the manual gain adjustment mode, select the condition for gain switching. When P4-00≠0, namely in the automatic gain adjustment mode, this function is invalid. The letter H at the end of the number means the parameter value is expressed in hexadecimal, and shall be noted during communication. P4-15 = 0*H:
Simply switch the position loop gain and the speed loop gain; P4-15 = 00H: Turn off the gain switching function; P4-15 = 01H: When the DI terminal defined as gain switching (GAIN_SEL) is turned from OFF→ON; P4-15 = 02H : In the position control mode, when the position deviation is greater than the set value of parameter P4-18 (with 100ppr command unit lagging); P4-15 = 03H : In the position control mode, when the speed command is greater than the set value of parameter P4-18 (with 10ppr lagging); P4-15 = 04H : When the rotating speed of the servo motor is greater than the set value of parameter P4-18 (with 10rpm lagging); P4-15 = 05H :
When the DI terminal defined as gain switching (GAIN_SEL) is turned from ON→OFF; P4-15 = 06H : In the position control mode, when the position deviation is smaller than the set value of parameter P4-18 (with 100ppr command unit lagging); P4-15 = 07H : In the position control mode, when the speed command is smaller than the set value of parameter P4-18 (with 10ppr lagging); P4-15 = 08H : When the rotating speed of the servo motor is smaller than the set value of parameter P4-18 (with 10rpm lagging); P4-15 = 1*H: Simply switch the speed loop integral, PI--->P, i.e. cancel the speed loop integral action P4-15 = 10H :
Turn off the integral switching function, and the speed loop integral remains valid; P4-15 = 11H : When the DI terminal defined as gain switching (GAIN_SEL) is turned from OFF→ON; P4-15 = 12H : In the position control mode, when the position deviation is greater than the set value of parameter P4-18 (with 100ppr command unit lagging); P4-15 = 13H :
In the position control mode, when the speed command is greater than the set value of parameter P4-18 (with 10ppr lagging); 129 Technical Manual for EA190 Series Servo Driver V100 P4-13 Rigidity adjustment coefficient Initial value 0.5 Communication address 040DH Unit - Time of taking effect With immediate effect Setting range 0.5~1.0 Data size 16bit Control mode P S P4-14 Control loop coefficient Initial value 75 Communication address 040EH Unit - Time of taking effect With immediate effect Setting range 10~100 Data size 16bit Control mode P S T P4-15 Gain switching condition Initial value 00H Communication address 040FH Unit - Time of taking effect With immediate effect Setting range 00H~18H Data size 16bit Control mode P S T