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5. PARAMETERS
5 - 24
No. Symbol Name and function
Initial
value
[Unit]
Setting
range
PB26 *CDP Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr.
PB56] to [Pr. PB60].
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed
0h
_ _ x _ Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or
more
1: Gain after switching is enabled with gain switching condition or
less
0h
_ x _ _ Gain switching time constant disabled condition selection
0: Switching time constant is enabled.
1: Switching time constant is disabled.
2: Return time constant is disabled.
Refer to section 7.2.4 for details.
0h
x _ _ _ For manufacturer setting 0h
PB27 CDL Gain switching condition
Set the value of the gain switching (command frequency, droop pulses, or servo motor speed)
selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.)
10
[kpulse/s]
/[pulse]
/[r/min]
0 to
65535
PB28 CDT Gain switching time constant
Set the time constant at which the gains will change in response to the conditions set in [Pr.
PB26] and [Pr. PB27].
1
[ms]
0 to 100
PB29 GD2B Load to motor inertia ratio after gain switching
Set the load to motor inertia ratio when gain switching is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
7.00
[Multiplier]
0.00 to
300.00
PB30 PG2B Position loop gain after gain switching
Set the position loop gain for when the gain switching is enabled.
When you set a value smaller than 1.0 rad/s, the value will be the same as the value set in [Pr.
PB08].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
0.0
[rad/s]
0.0 to
2000.0
PB31 VG2B Speed loop gain after gain switching
Set the speed loop gain for when the gain switching is enabled.
When you set a value smaller than 20 rad/s, the value will be the same as the value set in [Pr.
PB09].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
0
[rad/s]
0 to
65535