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ASDA-A3

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Tuning

5.8.4 Gain switching

5.8.4.1 Function restriction

1. When P2.027.X is set to 0, 1, 2, 4, 5, 6, or 8, P1.078 Gain switching delay time is not

supported.

2. When P2.027.X is set to 3 or 7, P1.078 Gain switching delay time is supported.

5.8.4.2 Function description

Increasing the gain during operation can achieve a better command following and shorter

settling time. Reducing the gain when the servo motor is in a stop state can reduce the high

frequency noise and vibration.

During the gain switching process, if the servo motor operation is not smooth, increasing the

gain switching time constant (P2.028) can smooth the gain switching process.

The servo automatically switches the relevant control parameters based on the value set for

P2.027.X (Gain switching condition); however, you need to additionally set the change rate of

the parameter (refer to the “After switching” columns in the following page).

5.8.4.3 Application example

The control mode and whether P1.078 is supported are determined by the gain switching

conditions. Refer to the following descriptions.

P2.027.X: gain switching condition

Condition

0 Disable gain switching function.

Control

mode

P1.078

Gain switching

delay time

1 Signal of gain switching (DI.GAINUP: 0x03) is on.

All

2 In Position control mode, position error is larger than P2.029.

PT / PR

3 Frequency of Position command is larger than P2.029.

PT / PR

Supported

4 Speed of servo motor is faster than P2.029.

All

5 Signal of gain switching (DI.GAINUP: 0x03) is off.

All

6 In Position control mode, position error is smaller than P2.029. PT / PR

7 Frequency of Position command is smaller than P2.029.

PT / PR

Supported

8 Speed of servo motor is slower than P2.029.

All

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