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5. PARAMETERS
No. Symbol Name and function
Initial
value
Unit
Setting
range
PB26 *CDP Gain changing selection
Select the gain changing condition. (Refer to section 7.6.)
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Control instructions from a controller.
2: Command frequency (Parameter No.PB27
setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
00
Gain changing condition
0: Valid at more than condition (For control
instructions from a controller, valid with ON)
1: Valid at less than condition (For control
instructions from a controller, valid with OFF)
0000h Refer to
Name
and
function
column.
PB27 CDL Gain changing condition
Used to set the value of gain changing condition (command frequency, droop pulses,
servo motor speed) selected in parameter No.PB26.The set value unit changes with the
changing condition item. (Refer to section 7.6.)
10 kpps
pulse
r/min
0
to
9999
PB28 CDT Gain changing time constant
Used to set the time constant at which the gains will change in response to the
conditions set in parameters No.PB26 and PB27. (Refer to section 7.6.)
1 ms 0
to
100
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of load inertia moment to servo motor inertia moment when gain
changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.PA08:
3).
7.0 Multiplier
(
1)
0
to
300.0
PB30 PG2B Gain changing position loop gain
This parameter cannot be used in the speed control mode.
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.PA08:
3).
37 rad/s 1
to
2000
PB31 VG2B Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.PA08:
3).
823 rad/s 20
to
20000
PB32 VICB Gain changing speed integral compensation
Set the speed integral compensation when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.PA08:
3).
33.7 ms 0.1
to
5000.0
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting
This parameter cannot be used in the speed control mode.
Set the vibration frequency for vibration suppression control when the gain changing is
valid. This parameter is made valid when the parameter No.PB02 setting is "
2"
and the parameter No.PB26 setting is "
1".
When using the vibration suppression control gain changing, always execute the
changing after the servo motor has stopped.
100.0 Hz 0.1
to
100.0