Technical Manual for EA350 Analog Pulse Type Servo Driver V101 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 (15: 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 (15: 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 (15: 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); 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 (15: 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). 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 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). Please refer to Fig. 7-15. 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 158 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 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\Kpps\rpm Time of taking effect With immediate effect Setting range 0~32767 Data size 16bit Control mode P S