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7. SPECIAL ADJUSTMENT FUNCTIONS
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7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by control command from the controller
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to motor
mass ratio
4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - Vibration
frequency
50 [Hz]
PB20 VRF12 Vibration suppression control 1 -
Resonance frequency
50 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration
frequency damping
0.20
PB22 VRF14 Vibration suppression control 1 -
Resonance frequency damping
0.20
PB52 VRF21 Vibration suppression control 2 - Vibration
frequency
20 [Hz]
PB53 VRF22 Vibration suppression control 2 -
Resonance frequency
20 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration
frequency damping
0.10
PB55 VRF24 Vibration suppression control 2 -
Resonance frequency damping
0.10
PB29 GD2B Load to motor inertia ratio/load to motor
mass ratio after gain switching
10.00 [Multiplier]
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB Speed integral compensation after gain
switching
50 [ms]
PB26 CDP Gain switching function 0001
(Switch by control command
from the controller.)
PB28 CDT Gain switching time constant 100 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration
frequency after gain switching
60 [Hz]
PB34 VRF12B Vibration suppression control 1 -
Resonance frequency after gain switching
60 [Hz]
PB35 VRF13B Vibration suppression control 1 - Vibration
frequency damping after gain switching
0.15
PB36 VRF14B Vibration suppression control 1 -
Resonance frequency damping after gain
switching
0.15
PB56 VRF21B Vibration suppression control 2 - Vibration
frequency after gain switching
30 [Hz]
PB57 VRF22B Vibration suppression control 2 -
Resonance frequency after gain switching
30 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration
frequency damping after gain switching
0.05
PB59 VRF24B Vibration suppression control 2 -
Resonance frequency damping after gain
switching
0.05