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7. SPECIAL ADJUSTMENT FUNCTIONS
7.3.3 Parameters
When using the gain changing function, always set parameter No. PA08 (auto tuning mode) to "
3" to
select manual mode in the tuning mode. The gain changing function cannot be used in the auto tuning mode.
Parameter No.
Abbrevi-
ation
Name Unit Description
PB06 GD2
Load to motor inertia moment
ratio
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 load to motor
inertia moment ratio
Multiplier
(
1)
Used to set load to motor inertia moment ratio 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 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
Used to 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 load
to motor inertia moment ratio, position loop gain, speed loop gain and speed integral compensation to be
changed.
(2) Gain changing load to motor inertia moment ratio (parameter No. PB29)
This parameter is used to set load to motor inertia moment ratio after changing the gains. If the load to
motor inertia moment ratio does not change, set the same value in this parameter as the load to 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).
This parameter is used to set the values of after-changing position loop gain, speed loop gain and speed
integral compensation.
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