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7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No. Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
PB06 GD2
Ratio of load inertia moment to servo motor
inertia moment
4.0
Multiplier
(
1)
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
PB29 GD2B
Gain changing ratio of load inertia moment to
servo motor inertia moment
10.0
Multiplier
(
1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
PB26 CDP Gain changing selection
0003
(Changed by droop pulses)
PB27 CDS Gain changing condition 50 pulse
PB28 CDT Gain changing time constant 100 ms
(b) Changing operation
CDT 100ms
0
Droop pulses [pulses]
Change of each gain
CDS
CDS
Before-changing gain
After-changing gain
Command pulse
Droop pulses
Model loop gain 100
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0 4.0 10.0
Position loop gain 120 84 120 84
Speed loop gain 3000 4000 3000 4000
Speed integral compensation 20 50 20 50