Technical Manual for EA350 Analog Pulse Type Servo Driver V101 ➢ Gain switching condition ◼ Cancelling the speed loop integral action may reduce the possibility of speed overshooting, but the servo response may also become slow.
◼ bit0=5, 6, 7, 8 indicates reverse actions; please refer to description of the function code P4-15 ➢ Associated parameter 73 P4-15 Switching condition Gain switching mode bit1 bit0 0 0 Fix the 1st gain Always use the 1st gain 1 DI terminal input When the gain switching terminal (GAIN SEL) is active, it is the 2nd gain _ When the gain switching terminal (GAIN SEL) is inactive, it is the 1st gain _ *If no terminal is defined as GAIN SEL, it is fixed as the 1st gain 2 Position deviation high _ When it is currently at the 1st gain and the absolute value of the position deviation exceeds P4 18+lagging, shift to the 2nd gain.
_ When it is currently at the 2nd gain and the absolute value of the position deviation exceeds P4 18- _ lagging, go back to the 1st gain. * The lagging value of position deviation is 100 pulse command units 3 Speed command high When it is currently at the 1st gain and the absolute value of the speed command exceeds P4 18+lagging, shift to the 2nd gain. _ When it is currently at the 2nd gain and the absolute value of the speed command exceeds P4 18- _ lagging, go back to the 1st gain. * The lagging value of speed command is 10rpm 4 Actual speed high When it is currently at the 1st gain and the absolute value of the motor speed exceeds P4 18+lagging, _ shift to the 2nd gain.
When it is currently at the 2nd gain and the absolute value of the motor speed exceeds P4 18-lagging, _ go back to the 1st gain.
* The lagging value of motor speed is 10rpm 1 0 Integral action valid The speed loop integral time constant is always invalid 1 DI terminal input When the gain switching terminal (GAIN SEL) is active, cancel the speed loop integral action _ When the gain switching terminal (GAIN SEL) is inactive, restore the integral action of the speed loop _ *If no terminal is defined as GAIN SEL, the integral action will be constantly effective 2 Position deviation high _ When it is currently at the first gain and the absolute value of the position deviation exceeds P4 18+lagging, the speed loop integral action is cancelled.
_ When it is currently at the second gain and the absolute value of the position deviation is smaller than P4 18-lagging, the speed loop integral action is restored. _ * The lagging value of position deviation is 100 pulse command units 3 Speed command high When it is currently at the first gain and the absolute value of the speed command exceeds P4 18+lagging, the speed loop integral action is cancelled. _ When it is currently at the second gain and the absolute value of the speed command is smaller than P4 18-lagging, the speed loop integral action is restored.
_ * The lagging value of speed command is 10rpm 4 Actual speed high When it is currently at the first gain and the absolute value of the motor speed exceeds P4 18+lagging, _ the speed loop integral action is cancelled. When it is currently at the second gain and the absolute value of the motor speed is smaller than P4 18-lagging, the speed loop integral action is restored. _ * The lagging value of motor speed is 10rpm Function code Parameter name Function P4-16 Gain switching time When the gain switching condition is satisfied, the gain value will switch from the current stage linearly to the target gain within the time.
P4-18 Gain switching threshold Reference value for determining whether the gain switching condition is satisfied. * The unit of the parameter setting depends on P4-15 P4-19 Change coefficient of the 2nd position loop gain The second position loop gain = P4 02*P4 19 _ _ P4-20 Change coefficient of the 2nd speed loop gain The second speed loop gain = P4 03*P4 20 _ _