frequency
damping after
gain
switching
"Vibration suppression mode selection" is set to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
"Vibration suppression control 2 tuning mode selection" is set
to "Manual setting (_ _ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.
Setting range: 0.00 to 0.30
PB60
PG1B
Model loop
gain after
gain
switching
Set the model loop gain for when the gain switching is enabled.
When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr.
PB07].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" is set to "Manual mode (_ _
_ 3)" in [Pr. PA08].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.
Setting range: 0.0 to 2000.0
5.2.3 Extension setting parameters ([Pr. PC_ _ ])
PC01
ERZ
Error
excessive
alarm level
Set an error excessive alarm level.
The setting unit can be changed with "Error excessive alarm/error excessive
warning level unit selection" in [Pr. PC06].
Set this per rev. for rotary servo motors and direct drive motors. When "0" is set, 3
rev will be applied. Setting over 200 rev will be clamped to 200 rev.
Setting range: 0 to 1000
PC02
MBR
Electromagne
tic brake
sequence
output
Set the delay time from when MBR (Electromagnetic brake interlock) turns off until
when the base drive circuit is shut-off.
For the timing chart of when the servo motor with an electromagnetic brake is used,
refer to section 3.9.2.
Setting range: 0 to 1000
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