EA180 Series Servo Drive Users Manual In torque control, the following functions don't work: Acceleration feedback Disturbance observer Speed observer Torque feedforward Online inertia identification Gain switching Adaptive filter Friction compensation Notch filter 6.10.4 Gain switching When the gain is switched based on internal data or external signals, the following effects are achieved: Reduce the gain at stop (servo lock) to suppress vibration. Increase the gain at stop (when setting) to shorten the setting time. Increase the gain during action to improve command follow-up. Switching is performed with an external DI signal according to the mechanical state.
Action Command speed Time State Stop (Position Movement Stop (Position locked) locked) Low gain High gain Low gain Gain (Gain 1) Change time (Gain 1) Change time (Gain 1) P4-16 P4-16 Gain switching conditions Gain decrease, vibration reduced 67 P4-15 Switching Gain switching mode bit1 bit0 condition 0 0 Fix the first gain Always use the first gain 1 DI terminal input Use the second gain when the gain switching terminal (GAIN SEL) is valid Use the first gain when the gain switching terminal (GAIN SEL) is invalid 2 Large position deviation _ If it is at the first gain and the absolute value of the position deviation exceeds P4 18 + lag, it shifts to the second gain.
_ If it is at the second gain and the absolute value of the position deviation is smaller than P4 18 + lag, it returns to the first gain. _ * The lag value of position deviation is 100Pulse command units. 3 Large speed command If it is at the first gain and the absolute value of the speed command exceeds P4 18 + lag, it shifts to the second gain. _ If it is at the second gain and the absolute value of the speed command is smaller than P4 18 + lag, it returns to the first gain. _ * The lag value of speed command is 10rpm. 4 High actual speed If it is at the first gain and the absolute value of the motor speed exceeds P4 18 + lag, it shifts to the second gain.
_ If it is at the second gain and the absolute value of the motor speed is smaller than P4 18 + lag, it returns to the first gain. _ * The lag value of motor speed is 10rpm. 1 0 Valid integral The speed loop integral time constant is always valid. action