P4-15 = 14H : When the rotating speed of the servo motor is greater than the set value of parameter P4-18 (with 10rpm lagging); P4-15 = 15H : When the DI terminal defined as gain switching (GAIN_SEL) is turned from ON→OFF. P4-15 = 16H : 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 = 17H : In the position control mode, when the speed command is smaller than the set value of parameter P4-18 (with 10ppr lagging) P4-15 = 18H : When the rotating speed of the servo motor is smaller than the set value of parameter P4-18 (with 10rpm lagging); Parameter functions:
When the gain switching condition is satisfied, the gain value will change smoothly in a linear manner to the target gain within the time (0: This function is turned off). Parameter functions:
Set the threshold for gain switching, with the unit set based on P4-15 When the motor stops, switch to a lower gain to suppress vibration and sharp noise When the motor stops, switch to a higher gain to enhance the servo rigidity When the motor runs, switch to a higher gain to obtain better command followability and shorter positioning time Switch between different gains based on the operating conditions of loaded equipment to realize the best control 1st gain When the switching condition is satisfied, the gain switches to the second gain. If the switching condition is dissatisfied during running at the second gain, then the gain switches to the first gain.
Upon switching, the current gain combination gradually changes in a linear and smooth manner to the target gain combination over the time set by parameter P4-16; during the process, parameters in the combination change accordingly to avoid abrupt change resulting in any mechanical collision. Once switching starts, even if the switching condition changes, the switching will be completed and re-identification of the switching condition will be performed upon completion of the switching. Parameter functions:
When the gain switching condition is satisfied, it is the proportional gain change rate of the 130 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1.See section 6.9.4 2.Due to presence of lagging, the actual value when conditions are satisfied or dissatisfied is:When conditions are satisfied:P4 18 + lagging value; when conditions are _ dissatisfied:P4 18-lagging value P4-16 Gain switching time Initial value 5 Communication address 0410H Unit ms Time of taking effect With immediate effect Setting range 0~3000 Data size 16bit Control mode P S P4-18 Gain switching threshold Initial value 100 Communication address 0412H Unit Pulse\Kpp s\rpm Time of taking effect With immediate effect Setting range 0~32767 Data size 16bit Control mode P S P4-19 Change coefficient of the 2nd position loop gain Initial value 50 Communication address 0413H Unit % Time of taking effect With immediate effect Setting range 10~500 Data size 16bit Control mode P