Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 54)

54 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A Standard Drive Parameters
Range Value Description
0 Fixed to the 1st gain
1 Fixed to 2nd gain
2 2nd gain selection when the gain
switching input is turned on.
3 2nd gain selection when the toque
command is larger than the set-up
levels of the gain control switching
and hysteresis of control switching.
4 2nd gain selection when the
command speed is larger than the
set-up levels of the gain control
switching and hysteresis of control
switching.
5 2nd gain selection when the
positional deviation is larger than the
setup set-up levels of the gain control
switching and hysteresis of control
switching.
6 2nd gain selection when more then
one command pulse exist between
200 μs.
7 2nd gain selection when the
positional deviation counter value
exceeds the set-up of the positioning
complete range.
8 2nd gain selection when the motor
actual speed exceeds the set-up
levels of the gain control switching
and hysteresis of control switching).
Switches to the 2nd gain while the
position command exists.
9 Switches to the 1st gain when no-
position command status lasts for the
set up of delay time of gain switching
[x 200 μs] and the speed falls slower
than the set-up levels of the gain
control switching level and hysteresis
of control switching.
Default 0
When Enabled Immediately
Applicable Operating Mode All
Modbus Address 7
[Pr - 0.06] Auxiliary Function Selection 2 (continued)