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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 1 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
13 PG1 Position control gain 1 rad/s
14 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.
12 GD2
Ratio of load inertia moment to
servo motor inertia moment
0.1
times
15 PG2 Position control gain 2 rad/s
16 VG2 Speed control gain 2 rad/s
17 VIC Speed integral compensation ms
Control parameters before changing
52 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.
53 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.
54 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.
55 VICB
Speed integral compensation
changing ratio
%
Used to set the ratio (%) of the after-changing speed integral
compensation to speed integral compensation.
49 CDP Gain changing selection Used to select the changing condition.
50 CDS Gain changing condition
kpps
pulse
r/min
Used to set the changing condition values.
51 CDT Gain changing time constant ms
You can set the filter time constant for a gain change at
changing.