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7. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No.PB06 to PB10
These parameters are the same as in ordinary man ual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia m oment, position loop gain, speed loop gain and speed
integral compensation to be changed.
(2) Gain changing ratio of load inertia mom ent to servo motor inertia moment (GD2B: param eter No.PB29)
Set the ratio of load inertia moment to servo m otor inertia moment after changing. If the load inert ia moment
ratio does not change, set it to the same va lue as ratio of load inertia moment to servo m otor inertia moment
(parameter No.PB06).
(3) Gain changing position loop gain (param eter No.PB30), Gain changing speed loop gain (p arameter
No.PB31), Gain changing speed integral compens ation (parameter No.PB32)
Set the values of after-changing position loo p gain, speed loop gain and speed integral com pensation.
(4) Gain changing selection (parameter No.PB 26)
Used to set the gain changing condition. Choose the c hanging condition in the first digit and second digit. If
you set "1" in the first digit here, you can us e the control command from controller is vali d for gain changing.
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 command from controller is valid
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 (Valid with ON for control command from controller.)
1: Valid at less than condition (Valid with OFF for control command from controller.)
(5) Gain changing condition (parameter No.PB27)
When you selected "command frequency", "droop pulses " or "servo motor speed" in gain changing
selection (parameter No.PB26), set the gain ch anging 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 (parameter No.P B28)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changin g, for example.