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7. SPECIAL ADJUSTMENT FUNCTIONS
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7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by a control command from the controller
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio 4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 50 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance
frequency
50 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency
damping
0.20
PB22 VRF14 Vibration suppression control 1 - Resonance
frequency damping
0.20
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 20 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance
frequency
20 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency
damping
0.10
PB55 VRF24 Vibration suppression control 2 - Resonance
frequency damping
0.10
PB29 GD2B Load to motor inertia ratio after gain switching 10.00 [Multiplier]
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB Speed integral compensation after gain switching 50 [ms]
PB26 CDP Gain switching function 0001
(Switch by control command
from the controller.)
PB28 CDT Gain switching time constant 100 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration frequency
after gain switching
60 [Hz]
PB34 VRF12B Vibration suppression control 1 - Resonance
frequency after gain switching
60 [Hz]
PB35 VRF13B Vibration suppression control 1 - Vibration frequency
damping after gain switching
0.15
PB36 VRF14B Vibration suppression control 1 - Resonance
frequency damping after gain switching
0.15
PB56 VRF21B Vibration suppression control 2 - Vibration frequency
after gain switching
30 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance
frequency after gain switching
30 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency
damping after gain switching
0.05
PB59 VRF24B Vibration suppression control 2 - Resonance
frequency damping after gain switching
0.05