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7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.3 Parameters
When using the gain changing function, always set "
4 " in DRU parameter No.2 (auto tuning) to
choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the
auto tuning mode.
DRU
parameter No.
Abbrevi-
ation
Name Unit Description
6 PG1 Position control gain 1 rad/s
36 VG1 Speed control gain 1 rad/s
Position and speed gains of a model used to set the
response level to a command. Always valid.
34 GD2
Ratio of load inertia moment to
servo motor inertia moment
0.1
times
35 PG2 Position control gain 2 rad/s
37 VG2 Speed control gain 2 rad/s
38 VIC Speed integral compensation ms
Control parameters before changing
61 GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
0.1
times
Used to set the ratio of load inertia moment to servo
motor inertia moment after changing.
62 PG2B
Position control gain 2 changing
ratio
%
Used to set the ratio (%) of the after-changing position
control gain 2 to position control gain 2.
63 VG2B
Speed control gain 2 changing
ratio
%
Used to set the ratio (%) of the after-changing speed
control gain 2 to speed control gain 2.
64 VICB
Speed integral compensation
changing ratio
%
Used to set the ratio (%) of the after-changing speed
integral compensation to speed integral compensation.
65 CDP Gain changing selection Used to select the changing condition.
66 CDS Gain changing condition
kpps
pulse
r/min
Used to set the changing condition values.
67 CDT Gain changing time constant ms
You can set the filter time constant for a gain change at
changing.