Gain Switching Function - BONMET SDL10A User Manual

5． Gain switching function
BONMET servo drive support two sets PID parameters for gain switching function.
The first set of PID parameter
Number
Pn-30
Speed loop proportional gain（PID1）
Pn-31 Speed loop integral time constant（PID1）
Pn-32 Low-pass bandwidth of speed loop（PID1）
Low-pass filter bandwidth of torque command
Pn-33
（PID1）
Pn-44 Position loop proportional gain（PID1）
Position loop differential proportional gain
Pn-45
（PID1）
The cut-off frequency of position feed forward
Pn-46
filter（PID1）
① Fixed to the first set of PID parameters.
Set Pn-64 to 0.
② Fixed to the second set of PID parameters.
Set Pn-64 to 1.
③ Switch the PID parameters by digital
⑴ Set Pn-64 to 2 and build the mapping of the logic signal ―Logic_PID_Sel‖ and the physical digital input (refer
to chapter 5 section 5.16.5).
⑵ As ―Logic_PID_Sel‖ is OFF, the first set of PID parameters are valid, while as ―Logic_PID_Sel‖ is ON, the
second set of PID parameters are valid.
④ Switch the PID parameters by position deviation.
⑴ Set Pn-64 to 3 for switch mode, and set the trigger value by Pn-65.
⑵ As the position deviation value (position deviation value = pulse commands – feedback pulse, the unit is pulse)
is less than trigger value, the first set of PID parameters are valid, while as the position deviation value is larger
than trigger value, the second set of PID parameters are valid.
⑤ Switch the PID parameters by speed deviation.
⑴ Set Pn-64 to 4 for switch mode, and set the trigger value by Pn-65.
⑵ As the speed deviation value (speed deviation value = speed commands –motor speed, the unit is rpm) is less
than trigger value, the first set of PID parameters are valid, while as the speed deviation value is larger than trigger
value, the second set of PID parameters are valid.
⑥ Switch the PID parameters by motor speed.
⑴ Set Pn-64 to 5 for switch mode, and set the trigger value by Pn-65.
⑵ As the motor speed (the unit is rpm) is less than trigger value, the first set of PID parameters are valid, while as
the motor speed is larger than trigger value, the second set of PID parameters are valid.
⑦ Switch the PID parameters by motor output torque.
⑴ Set Pn-64 to 6 for switch mode, and set the trigger value by Pn-65.
⑵ As the motor output torque (the unit is %) is less than trigger value, the first set of PID parameters are valid,
while as the motor output torque is larger than trigger value, the second set of PID parameters are valid.
Name
input. (NOT SUPPORT)
BONMET motion GmbH/www.bonmet.com/www.bonmet.de
The second set of PID parameter
Number
Pn-36
Speed loop proportional gain（PID2）
Pn-37 Speed loop integral time constant（PID2）
Pn-38 Low-pass bandwidth of speed loop（PID2）
Low-pass filter bandwidth of torque command
Pn-39
（PID2）
Pn-66 Position loop proportional gain（PID2）
Pn-67 Position loop differential scale factor（PID2）
The cut-off frequency of position feed forward
Pn-68
filter（PID2）
Name
37