Adaptive filter Friction compensation Notch filter 6.10.4 Gain switching Upon gain switching according to internal data or external data, the following results can be realized: Reducing the gain upon stop (servo locking) to suppress vibration. Increasing the gain upon stop (upon setting) to shorten the setting time. Increasing the gain upon action to improve the command followability. Switching according to external DI signal for mechanical status.
Gain switching condition 62 Technical Manual for EA190 Series Servo Driver V100 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 first gain and the absolute value of the position deviation exceeds P4 18+lagging, shift to the 2nd gain.
_ When it is currently at the first 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 first gain and the absolute value of the speed command exceeds P4 18+lagging, shift to the 2nd gain. _ When it is currently at the first 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 first gain and the absolute value of the motor speed exceeds P4 18+lagging, shift to the 2nd gain.
_ When it is currently at the first 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 When it is currently at the first gain and the absolute value of the speed command