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17. APPLICATION OF FUNCTIONS
17 - 41
(c) Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the
auto tuning mode.
1) Parameter for setting gain switching condition
Parameter Symbol Name Unit Description
PB26 CDP Gain switching selection Used to select the changing condition.
PB27 CDL Gain switching condition [kpulse/s]
/[pulse]
/[r/min]
Used to set the changing condition values.
PB28 CDT Gain switching time constant [ms] You can set the filter time constant for a gain change at
changing.
a) [Pr. PB26 Gain switching function]
Used to set the gain switching condition. Select the switching condition in the first to third
digits.
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
0
Gain switching condition
0: Gain after switching is enabled with gain switching condition or mor
e
1: Gain after switching is enabled with gain switching condition or less
[Pr. PB26]
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
b) [Pr. PB27 Gain switching condition]
Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo
motor speed/linear servo motor speed" in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed/linear servo motor speed [r/min]/[mm/s]
c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. This parameter is used to
suppress shock given to the machine if the gain difference is large at gain switching, for
example.