Filter
Top Products
8 - 12
8. SPECIAL ADJUSTMENT FUNCTIONS
8.6.3 Parameters
When using the gain changing function, always set parameter No.PA08 to "
3" (auto tuning mode) to
select the manual mode in the auto tuning modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter
No.
Abbrevi-
ation
Name Unit Description
PB06 GD2
Ratio of load inertia moment to servo
motor inertia moment
Multiplier
(
1)
Control parameters before changing
PB07 PG1 Model loop gain rad/s
Position and speed gains of a model used to set the response
level to a command. Always valid.
PB08 PG2 Position loop gain rad/s
PB09 VG2 Speed loop gain rad/s
PB10 VIC Speed integral compensation ms
PB29 GD2B
Gain changing ratio of load inertia
moment to servo motor inertia
moment
Multiplier
(
1)
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
PB30 PG2B Gain changing position loop gain rad/s Used to set the value of the after-changing position loop gain.
PB31 VG2B Gain changing speed loop gain rad/s Used to set the value of the after-changing speed loop gain.
PB32 VICB
Gain changing speed integral
compensation
ms
Used to set the value of the after-changing speed integral
compensation.
PB26 CDP Gain changing selection Used to select the changing condition.
PB27 CDL Gain changing condition
kpps
pulse
r/min
Used to set the changing condition values.
PB28 CDT Gain changing time constant ms
You can set the filter time constant for a gain change at
changing.
PB33 VRF1B
Gain changing vibration suppression
control vibration frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control vibration frequency setting.
PB34 VRF2B
Gain changing vibration suppression
control resonance frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control resonance frequency setting.
(1) Parameters No.PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load to motor inertia moment ratio, the position loop gain, the speed loop gain and the speed
integral compensation to be changed.
(2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29)
Set the load to servo motor inertia moment ratio after changing the gain. If the load to servo inertia moment
ratio does not change, set the parameter to the same value as the load to servo motor inertia moment ratio
(parameter No.PB06).
(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter No.
PB31), Gain changing speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.