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8. Glossary of Command and Parameter
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GP: Gain Switching Point
Format
Data range
Shipping set
Default
l Sets the threshold of position error for the automatic gain switching function.
l It switches the gains for Motor stationary level when the absolute position error keeps clearing
the parameter GP data for a time set with the stability timer GT [ms].
l Setting the data to 0 deactivates the function of automatic gain switching.
l Refer to "7.2.7. Automatic Gain Switching" for more information.
l The Ts or ?GP reports the current setting.
GT: Switching Gain Timer
Format
Data Range
Shipping set
Default
l The gain will be switched to the stationary level if the absolute value of error pulses is within the
GP setting for a time set with the stability timer GT [ms].
l Refer to "7.2.7. Automatic Gain Switching" for more details.
l TS or ?GT reports the current setting.
HA: Home Return Acceleration
Format
Data range
Shipping set
Default
l The HA command sets an acceleration of Home Return.
l The TS or ?HA reports the current setting.
: GP data
: 0, and 1 to 1 000 [pulse]
: 0
: 0
: GT data
: 0 to 1 000 [ms]
: 5
: 0
: HA data
-2
: 0.01 to 1 280.00 [s
]
-2
: 1.00 [s
]
: Not available
— 8-20 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
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Troubleshooting
