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6. APPLICATION FUNCTIONS
6.19 Gain changing
Through turning on the gain changing command signal (GAIN), the gain for the servo amplifier can be changed.
This is used to change the gain during revolution and while stopped, as well as changing gain proportional to
amount of movement or speed. When the gain changing function is used, set the following servo parameters.
For servo parameters (MR-J4(W
)- B)
Parameter No.
MR-J4-B
Parameter No.
Abbreviation Name Setting value
1159 PB26 *CDP Gain switching function Arbitrary within setting range
115A PB27 CDL Gain switching condition Arbitrary within setting range
115B PB28 CDT Gain switching time constant Arbitrary within setting range
115C PB29 GD2B Gain switching ratio of load inertia moment/load
mass ratio
Arbitrary within setting range
115D PB30 PG2B Gain switching position control gain Arbitrary within setting range
115E PB31 VG2B Gain switching speed control gain Arbitrary within setting range
115F PB32 VICB Gain switching speed integral compensation Arbitrary within setting range
1160 PB33 VRF11B Gain switching vibration suppression control 1
vibration frequency setting
Arbitrary within setting range
1161 PB34 VRF12B Gain switching vibration suppression control 1
resonance frequency setting
Arbitrary within setting range
1162 PB35 VRF13B Gain switching vibration suppression control 1
vibration frequency dumping setting
Arbitrary within setting range
1163 PB36 VRF14B Gain switching vibration suppression control 1
resonance frequency setting
Arbitrary within setting range
1177 PB56 VRF21B Gain switching vibration suppression control 2
vibration frequency setting
Arbitrary within setting range
1178 PB57 VRF22B Gain switching vibration suppression control 2
resonance frequency setting
Arbitrary within setting range
1179 PB58 VRF23B Gain switching vibration suppression control 2
vibration frequency dumping setting
Arbitrary within setting range
117A PB59 VRF24B Gain switching vibration suppression control 2
resonance frequency setting
Arbitrary within setting range
117B PB60 PG1B Gain switching model loop gain Arbitrary within setting range
POINT
Refer to the Servo Amplifier Instruction Manual on your servo amplifier
concerning details for the servo parameters.
To use the gain switching function, first set the gain adjustment mode to a
manual mode by changing an auto-tuning mode (parameter No.1107) to 3
(manual mode). If the gain adjustment mode is in an auto-tuning mode, the
gain changing function cannot be used.
API LIBRARY
To turn ON/OFF the gain changing command (GAIN), set
SSC_CMDBIT_AX_GAIN to the command bit number of the
sscSetCommandBitSignalEx function.
To check if during gain switching (GAINO) is ON/OFF, set
SSC_STSBIT_AX_GAINO to the status bit number with the
sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.