User Manual - CNC4PC

Parameter Name & Function Default Unit
Cn023
Cn024
Cn025
Cn026
Automatic gain 1& 2 switch condition
(Acceleration Command)
Set Cn015.1=2 first.
When accel. command is less than Cn023 Gain 1 is
selected.
When accel. command is greater than Cn023 Gain 2 is
selected.
When Gain 2 is active and acceleration command
becomes less than Cn023 system will automatically
switch back to Gain 1 the switch time delay can be set
by Cn020.
* accel. is acceleration
Automatic gain 1& 2 switch condition (Position
error value)
Set Cn015.1=3 first.
When position error value is less than Cn024 Gain 1 is
selected.
When position error value is greater than Cn024 Gain 2
is selected.
When Gain 2 is active and position error value
becomes less than Cn024 system will automatically
switch back to Gain 1 and the switch time delay can be
set by Cn020.
Load-Inertia ratio
LoadInertiaToMotor(J
)
LoadInerti aRatio =
L
× 100%
MotorRotorInertia(J
M
)
Rigidity Setting
When Auto tuning is used, set the Rigidity Level
depending on the various Gain settings for
applications such as those listed below:
Explanation
Setting
Position Loop
Gain
Pn310 [1/s]
Speed Loop
Gain
Sn211 [Hz]
Speed Loop
Integral-Time
Constant
Sn212
[x0.2msec]
1 15 15 300
2 20 20 225
3 30 30 150
4 40 40 100
5 60 60 75
6 85 85 50
7 120 120 40
8 160 160 30
9 200 200 25
A 250 250 20
0 rps/s
0 pulse
40 x0.1
4 X
Setting
Range
0
│
18750
0
│
50000
0
│
1000
1
│
A
Control
Mode
Pi
Pe
S
Pi
Pe
S
Pi
Pe
S
Pi
Pe
S
Chapter
5-3-11
5-3-11
5-5
5-5-1
6-7