7 - 12 7. SPECIAL ADJUSTMENT FUNCTIONS
7.6.3 Parameters When using the gain changing function, alwa ys set " 3" in parameter No.PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changi ng function cannot be used in the auto tuning mode. Parameter No. Abbreviation Name Unit Description
PB06 GD2
Ratio of load inertia moment to
servo motor inertia moment
Multi-
plier
(1)
Control parameters before changing
PB07 PG1 Model loop gain rad/s Position and speed gains of a model used to set the
response level to a command. Always valid.
PB08 PG2 Position loop gain rad/s
PB09 VG2 Speed loop gain rad/s
PB10 VIC Speed integral compensation ms
PB29 GD2B
Gain changing ratio of load inertia
moment to servo motor inertia
moment
Multi-
plier
(1)
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
PB30 PG2B Gain changing position loop gain 2 rad/s Used to set the value of the after-changing position loop
gain 2.
PB31 VG2B Gain changing speed loop gain 2 rad/s Used to set the value of the after-changing speed loop
gain.
PB32 VICB
Gain changing speed integral
compensation ms Used to set the value of the after-changing speed integral
compensation.
PB26 CDP Gain changing selection Used to select the changing condition.
PB27 CDS Gain changing condition
kpps
pulse
r/min
Used to set the changing condition values.
PB28 CDT Gain changing time constant ms You can set the filter time constant for a gain change at
changing.
PB33 VRF1B
Gain changing vibration suppression
control vibration frequency setting Hz Used to set the value of the after-changing vibration
suppression control vibration frequency setting.
PB34 VRF2B
Gain changing vibration suppression
control resonance frequency setting Hz Used to set the value of the after-changing vibration
suppression control resonance frequency setting.