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7. SPECIAL ADJUSTMENT FUNCTIONS
(1) DRU Parameters No. 12 to 17
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: DRU parameter No. 52)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (parameter No. 34).
(3) Position control gain 2 changing ratio (DRU parameter No. 53), speed control gain 2 changing ratio (DRU
parameter No. 54), speed integral compensation changing ratio (DRU parameter No. 55)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2
100, speed control gain 2
2000, speed integral
compensation
20 and position control gain 2 changing ratio
180%, speed control gain 2 changing
ratio
150% and speed integral compensation changing ratio
80%, the after-changing values are as
follows:
Position control gain 2
Position control gain 2
Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2
Speed control gain 2
Speed control gain 2 changing ratio /100
3000rad/s
Speed integral compensation
Speed integral compensation Speed integral compensation changing
ratio /100
16ms
(4) Gain changing selection (DRU parameter No. 49)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, gains can be changed by the control command of controller.
DRU Parameter No. 49
Gain changing selection
Gains are changed in accordance with the settings of
DRU parameters No. 52 to 55 under any of the following conditions:
0: Invalid
1: Control command from controller
2: Command frequency is equal to higher than parameter No. 66 setting
3: Droop pulse value is equal to higher than parameter No. 66 setting
4: Servo motor speed is equal to higher than parameter No. 66 setting
(5) Gain changing condition (DRU parameter No. 50)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.65), set the gain changing level.
The setting unit is as follows:
Gain changing condition Unit
Command frequency kpps
Droop pulses pulse
Servo motor speed r/min
(6) Gain changing time constant (DRU parameter No. 51)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.