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5. PARAMETERS
No./
Setting
symbol/name
digit
PB29
Set a load to motor inertia ratio/load to motor mass ratio for when gain switching is
enabled.
GD2B
This parameter is enabled only when "Gain adjustment mode selection" is set to
Load to motor
"Manual mode (_ _ _ 3)" in [Pr. PA08].
inertia
ratio/load to
motor mass
Setting range: 0.00 to 300.00
ratio after gain
switching
PB30
Set the position loop gain for when the gain switching is enabled.
PG2B
When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr.
PB08].
Position loop
gain after
This parameter is enabled only when "Gain adjustment mode selection" is set to
gain
"Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
Setting range: 0.0 to 2000.0
PB31
Set the speed loop gain for when the gain switching is enabled.
VG2B
When a value less than 20 rad/s is set, the value will be the same as that of [Pr.
PB09].
Speed loop
gain after
This parameter is enabled only when "Gain adjustment mode selection" is set to
gain
"Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
Setting range: 0 to 65535
PB32
Set the speed integral compensation for when the gain switching is enabled.
VICB
When a value less than 0.1 ms is set, the value will be the same as that of [Pr.
PB10].
Speed
integral
This parameter is enabled only when "Gain adjustment mode selection" is set to
compensation
"Manual mode (_ _ _ 3)" in [Pr. PA08].
after gain
switching
Setting range: 0.0 to 5000.0
PB33
Set the vibration frequency for vibration suppression control 1 for when the gain
switching is enabled.
VRF11B
When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
Vibration
PB19].
suppression
control 1 -
This parameter will be enabled only when the following conditions are fulfilled.
Vibration
frequency
after gain
switching
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.
Setting range: 0.0 to 300.0
PB34
Set the resonance frequency for vibration suppression control 1 for when the gain
switching is enabled.
VRF12B
When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
Vibration
PB20].
suppression
control 1 -
This parameter will be enabled only when the following conditions are fulfilled.
Resonance
frequency
after gain
switching
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.
Setting range: 0.0 to 300.0
"Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
"Vibration suppression control 1 tuning mode selection" is set to "Manual setting
(_ _ _ 2)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by control command
from controller (C_CDP) and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr.
PB26].
"Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
"Vibration suppression control 1 tuning mode selection" is set to "Manual setting
(_ _ _ 2)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by control command from
controller (C_CDP) and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Function
5 - 34
Initial
Network
value
ECT EIP
[unit]
7.00
[times]
0.0
[rad/s]
0
[rad/s]
0.0
[ms]
0.0
[Hz]
0.0
[Hz]
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