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7. SPECIAL ADJUSTMENT FUNCTIONS
7.3.4 Gain changing procedure
The operation is explained with setting examples below:
(1) When gain changing by an input device (CDP) is selected:
(a) Setting
Parameter No. Abbreviation Name Setting Unit
PB06 GD2 Load to motor inertia moment ratio 4.0
Multiplier
(
1)
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 VRF1
Vibration suppression control vibration
frequency setting
50 Hz
PB20 VRF2
Vibration suppression control resonance
frequency setting
50 Hz
PB29 GD2B
Gain changing load to motor inertia moment
ratio
10.0
Multiplier
(
1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
PB26 CDP Gain changing
001
(Changed by ON/OFF of input device)
PB28 CDT Gain changing time constant 100 ms
PB33 VRF1B
Gain changing vibration suppression control
vibration frequency setting
60 Hz
PB34 VRF2B
Gain changing vibration suppression control
resonance frequency setting
60 Hz
(b) Timing chart at changing
ON
Gain changing
(CDP)
OFF OFF
After-changing gain
Before-changing gain
Change of
each gain
CDT =100ms
63.4%
Model loop gain 100
Load to motor inertia moment
ratio
4.0
10.0 4.0
Position loop gain 120 84 120
Speed loop gain 3000 4000 3000
Speed integral compensation 20 50 20
Vibration suppression control
vibration frequency setting
50
60 50
Vibration suppression control
resonance frequency setting
50
60 50
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