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17. APPLICATION OF FUNCTIONS
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(d) 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
PX04 VRF21 Vibration suppression control 2 -
Vibration frequency
20 [Hz]
PX05 VRF22 Vibration suppression control 2 -
Resonance frequency
20 [Hz]
PX06 VRF23 Vibration suppression control 2 -
Vibration frequency damping
0.10
PX07 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]
PX12 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
PX08 VRF21B Vibration suppression control 2 -
Vibration frequency after gain
switching
30 [Hz]
PX09 VRF22B Vibration suppression control 2 -
Resonance frequency after gain
switching
30 [Hz]