Appendix
ES2 Series Servo User Manual Lite V1.0
Function
code
P07 11
Name
Gain
mode
switching
Setting range
0-first gain fixed
1-second gain fixed
2-using DI input
(GAIN-SWITCH)
3-torque command
greater
4-speed command
change greater
5-speed command
greater
6-position deviation
greater (P)
7-receive position
command (P)
8-positioning is not
completed (P)
9-actual speed is
greater (P)
10-receive position
command
and
actual speed (P)
11-speed
loop
controller with
PDFF control (PS)
12-reserved
13-speed
loop
controller with
improved PI control
(PS)
Min.
unit
1
Default
setting
0
P07
12
Gain
delay
switching 0~1000.0ms
0.1ms 5.0ms
0~20000
(unit:
P07
13
Gain
level
switching
according to the gain
switching
mode
1
50
description)
0~20000
(unit:
P07
14
Hysteresis time of
gain switching
according to the gain
switching
mode
1
33
description)
P07
15
Position
gain
switching time
0~1000.0ms
0.1ms 3.3ms
P07
16
Speed regulator
PDFF coefficient
0~100.0%
0.1% 100.0%
P07
17
Improved speed PI
control level
2~7
Anti-integration
P07 18 saturation
coefficient
0~1.000
1
5
0.001 0.820
Effective
time
Type
Mode
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
Effective
immediate
ly
Set
when
runnin
g
PS
51