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5. PARAMETERS
5 - 28
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB26 *CDP Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr.
PB56] to [Pr. PB60].
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
0h
_ _ x _
Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or
more
1: Gain after switching is enabled with gain switching condition or
less
0h
_ x _ _ Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
This parameter is used by servo amplifier with software version B4
or later.
0h
x _ _ _ For manufacturer setting 0h
PB27 CDL
Gain switching condition
This is used to set the value of gain switching (command frequency, droop pulses, and servo
motor speed/linear servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
10
[kpulse/s]
/[pulse]
/[r/min]
0 to
65535
PB28 CDT
Gain switching time constant
This is used to set the time constant at which the gains will change in response to the
conditions set in [Pr. PB26] and [Pr. PB27].
1
[ms]
0 to 100
PB29 GD2B
Load to motor inertia ratio/load to motor mass ratio after gain switching
This is used to set the load to motor inertia ratio/load to motor mass ratio when gain switching
is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
7.00
[Multiplier]
0.00 to
300.00