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5. PARAMETERS
No. Symbol Name and function
Initial
value
Unit
Setting
range
Control mode
Position Speed Torque
PB27 CDL Gain changing condition
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in
parameter No.PB26.The set value unit changes with the
changing condition item. (Refer to section 8.6.)
10 kpps
pulse
r/min
0
to
9999
PB28 CDT Gain changing time constant
Used to set the time constant at which the gains will change
in response to the conditions set in parameters No.PB26
and PB27. (Refer to section 8.6.)
1 ms 0
to
100
PB29 GD2B Gain changing ratio of load inertia moment to servo motor
inertia moment
Used to set the ratio of load inertia moment to servo motor
inertia moment when gain changing is valid.
This parameter is made valid when the auto tuning is invalid
(parameter No.PA08:
3).
7.0
Multi-
plier
(
1)
0
to
300.0
PB30 PG2B Gain changing position loop gain
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid
(parameter No.PA08:
3).
37 rad/s 1
to
2000
PB31 VG2B Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid
(parameter No.PA08:
3).
Note. The setting range of 50000 applies to the servo
amplifier whose software version is A3 or later. The setting
range of the servo amplifier whose software version is older
than A3 is 20 to 20000. When the software version of MR
Configurator is A3 or earlier, 20001 or more cannot be set.
Use the display/operation section of the servo amplifier to
set 20001 or more.
823 rad/s 20
to
20000
PB32 VICB Gain changing speed integral compensation
Set the speed integral compensation when the gain
changing is valid.
This parameter is made valid when the auto tuning is invalid
(parameter No.PA08:
3).
33.7 ms 0.1
to
5000.0
PB33 VRF1B Gain changing vibration suppression control - vibration
frequency setting
Set the vibration frequency for vibration suppression control
when the gain changing is valid. This parameter is made
valid when the parameter No.PB02 setting is "
2" and
the parameter No.PB26 setting is "
1".
When using the vibration suppression control gain changing,
always execute the changing after the servo motor has
stopped.
100.0 Hz 0.1
to
100.0
PB34 VRF2B Gain changing vibration suppression control - resonance
frequency setting
Set the resonance frequency for vibration suppression
control when the gain changing is valid. This parameter is
made valid when the parameter No.PB02 setting is
"
2" and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing,
always execute the changing after the servo motor has
stopped.
100.0 Hz 0.1
to
100.0