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7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 21
(b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Control command
from controller
OFF
ON
OFF
Model loop gain 100 → 50 → 100
Load to motor inertia ratio/load to motor
mass ratio
4.00 → 10.00 → 4.00
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 - Vibration
frequency
50 → 60 → 50
Vibration suppression control 1 -
Resonance frequency
50 → 60 → 50
Vibration suppression control 1 - Vibration
frequency damping
0.20 → 0.15 → 0.20
Vibration suppression control 1 -
Resonance frequency damping
0.20 → 0.15 → 0.20
Vibration suppression control 2 - Vibration
frequency
20 → 30 → 20
Vibration suppression control 2 -
Resonance frequency
20 → 30 → 20
Vibration suppression control 2 - Vibration
frequency damping
0.10 → 0.05 → 0.10
Vibration suppression control 2 -
Resonance frequency damping
0.10 → 0.05 → 0.10
(2) When you choose switching by droop pulses
In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to
motor mass ratio
4.00 [Multiplier]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio/load to
motor mass ratio after gain
switching
10.00 [Multiplier]
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 selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
PB28 CDT Gain switching time constant 100 [ms]