4-114
H Parameters Requiring Settings
Parameter
No.
Parameter name Explanation Reference
Pn50A.0 Input signal
selection 1
Input signal
selection mode
GSEL signal is not allocated in the default settings.
Set Pn50A.0 to 1 (user-defined settings).
4-4-3 Important
Parameters
Pn50d.2 Input signal
selection 4
GSEL signal
selection
Allocate GSEL signal.
Pn104 No. 2 speed loop
gain
Set the speed loop gain for when GSEL is ON.
4-4-4 Parameter
Details
Pn105 No. 2 speed loop
Differential time
constant
Set the speed loop differential time constant for
when GSEL is ON.
Pn106 No. 2 position
loop gain
Set the position loop gain for when GSEL is ON.
• Adjust Pn104, Pn 105, and Pn 106 when GSEL is ON according to 4-7-2 Manual Tuning. Fn001 (rigid-
ity setting for online auto-tuning) is not performed on No. 2 gain, however, so set the initial values for
adjustment referring to the above table.
4-8-6 Automatic Gain Switching (Position Control)
H Functions
• This function switches the speed loop and position loop gain.
• Depending on whether position commands are used, and the amount of position deviation, the No. 1
gain (Pn100, Pn101, Pn102) and No. 2 gain (Pn104, Pn105, Pn106) can be automatically switched.
Note 1. Automatic gain switching is enabled for position control only. When position control is not
used, the Servomotor operates using the No. 1 gain (Pn100, Pn101, Pn102).
Note 2. When automatic gain switching is used, set the No. 1 gain for gain during operating, and set
the No. 2 gain for gain while stopped.
Note 3. Automatic gain switching and gain switching using GSEL (gain switching input) cannot be
used together. When Pn10b.2 (automatic gain switching selection) is set between 1 and 3,
GSEL switching is disabled.
Note 4. Automatic gain switching is a new function supported by Servo Drivers with software version
“r.0037.”
Operation Chapter 4
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