10. SPECIAL ADJUSTMENT FUNCTIONS
10.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No.
7
36
34
35
37
38
64
65
66
67
68
70
(b) Changing operation
Gain changing
(CDP)
Change of
each gain
Position control gain 1
Speed control gain 1
Ratio of load inertia moment
to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation
Abbreviation
PG1
Position control gain 1
VG1
Speed control gain 1
Ratio of load inertia moment to
GD2
servo motor inertia moment
PG2
Position control gain 2
VG2
Speed control gain 2
VIC
Speed integral compensation
Ratio of load inertia moment to
GD2B
servo motor inertia moment 2
Position control gain 2
PG2B
changing ratio
Speed control gain 2 changing
VG2B
ratio
Speed integral compensation
VICB
changing ratio
CDP
Gain changing selection
CDT
Gain changing time constant
OFF
Before-changing gain
CDT 100ms
4.0
120
3000
20
10 - 8
Name
(Changed by ON/OFF of
ON
After-changing gain
100
1000
10.0
84
4000
50
Setting
Unit
100
rad/s
1000
rad/s
4
0.1 times
120
rad/s
3000
rad/s
20
ms
100
0.1 times
70
%
133
%
250
%
0001
pin CN1A-8)
100
ms
OFF
4.0
120
3000
20