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8. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No. 6, 34 to 38
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 ser vo motor inertia moment 2 (GD2B: par ameter No. 61)
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 ra tio (parameter No. 62), speed control g ain 2 changing ratio (parameter
No. 63), speed integral compensation c hanging ratio (parameter No. 64)
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 contro l gain 2 changing ratio 180%, speed co ntr ol ga in 2 ch angi n g
ratio 150% and speed integ ral compensation changing ratio 80%, the after-changing values are as
follows:
Position control gain 2 Position control g ain 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 3000r ad/s
Speed integral compensation Speed integral compensation Speed integral compensation changing
ratio /100 16ms
(4) Gain changing selection (param eter No. 65)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP) external input signal for gain changing. The gain changing
(CDP) can be assigned to the pins u sing parameters No. 43 to 48.
Parameter No. 65
Gain changing selection
Gains are changed in accordance with the settings of
parameters No. 61 to 64 under any of the following conditions:
0: Invalid
1: Gain changing (CDP) input is ON
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 (parameter No. 66)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.65), set the g ain 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 (param eter No. 67)
You can set the primary delay filter to each gain a t gain changing. This parameter is used to suppre ss
shock given to the machine if the gain difference is large at gain changing, for example.