10 - 12 10. SPECIAL ADJUSTMENT FUNCTIONS
10.6.3 Parameters When using the gain changing function, al ways set " 3" in parameter No.PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain c hanging 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 rad/s Used to set the value of the after-changing position loop gain.
PB31 VG2B Gain changing speed loop gain rad/s Used t o 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 s peed 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 s et 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.