5 Adjustments5.8.3 Switching Gain Settings5-54In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loopgain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting whenspeed loop gain is increased.5.8.3 Switching Gain SettingsTwo gain switching functions are available, manual switching and automatic switching. The manual switch-ing function uses an external input signal to switch gains, and the automatic switching function switches gainsautomatically.For the gain combinations for switching, refer to (1) Gain Combinations for Switching.For the manual gain switching, refer to (2) Manual Gain Switching.For the automatic gain switching, refer to (3) Automatic Gain Switching.(1) Gain Combinations for SwitchingNote: The model following control gain and model following control compensation gain can be changed only manually.∗ The switching gain settings for the model following control gain and the model following control gain compensationare available only for manual gain switching. To enable the gain switching of the these parameters, a gain switchinginput signal must be sent, and the following conditions must be met.• No command being executed.• Motor having been completely stopped.If these conditions are not satisfied, the applicable parameters will not be switched although the otherparameters shown in this table will be switched.Without Mode Switching With Mode SwitchingMotor speedSpeed referenceLong Settling TimeIncrease speed loop gainSettling timeMotorspeedOvershootUndershootMotorspeedTimeMotorspeedSetting Speed LoopGainSpeed LoopIntegral TimeConstantPosition LoopGainForceReferenceFilterModelFollowingControl GainModelFollowingControl GainCompensationFrictionCompensationGainGainSetting 1Pn100Speed LoopGainPn101Speed LoopIntegral TimeConstantPn102Position LoopGainPn401Force Refer-ence Filter TimeConstantPn141*Model Follow-ing ControlGainPn142*Model Follow-ing ControlGain Compen-sationPn121Friction Com-pensation GainGainSetting 2Pn1042nd Speed LoopGainPn1052nd Speed LoopIntegral TimeConstantPn1062nd PositionLoop GainPn4122nd Force Ref-erence FilterTime ConstantPn148*2nd Model Fol-lowing ControlGainPn149*2nd Model Fol-lowing ControlGain Compen-sationPn1222nd Gain forFrictionCompensation
