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8. SPECIAL ADJUSTMENT FUNCTIONS
8.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No. Abbreviation Name Setting Unit
6 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
34 GD2
Ratio of load inertia moment to
servo motor inertia moment
40.1 times
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
61 GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
100 0.1 times
62 PG2B
Position control gain 2
changing ratio
70 %
63 VG2B
Speed control gain 2 changing
ratio
133 %
64 VICB
Speed integral compensation
changing ratio
250 %
65 CDP Gain changing selection
0001
(Changed by ON/OFF of
pin CN1A-8)
67 CDT Gain changing time constant 100 ms
(b) Changing operation
OFF
ON
OFF
Gain changing
(CDP)
Change of
each gain
Before-changing gain
After-changing gain
CDT 100ms
Position control gain 1 100
Speed control gain 1 1000
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0 4.0
Position control gain 2 120 84 120
Speed control gain 2 3000 4000 3000
Speed integral compensation 20 50 20