Shihlin SDH Series, Manual

Page: 91 / 220

82
SDH Series Manual
(5) The ratio 2 of load inertia to motor shaft GD2 (PB14)
Enable to set to change the ratio of load inertia to motor shaft and if the ratio of load inertia to motor shaft does
not change, please set this parameter to the value of GD1 (PB06).
(6) The change rate PG2 、 VG2 、 VIC2 (PB15~PB17) when position gain 2 、 speed gain 2 、 speed integral
gain switch.The original servo gain value would correct to the ratios (%) set by PG2, VG2, and VIC to run gain
switching.
Example 1: The external DI signal as the switch option.
Relevant parameters setting:
Name Name Abbr. Sign Setting value Unit
The ratio of load inertia to motor shaft GD1 PB06 70 0.1time
Position loop gain PG1 PB07 100 rad/s
Speed loop gain VG1 PB08 500 rad/s
Speed integral gain VIC PB09 100 ms
Gain switch option CDP PB11 0001 -
Gain switch time constant CDT PB13 10 ms
The ratio 2 of load inertia to motor shaft GD2 PB14 20 0.1time
Position loop gain change ratio PG2 PB15 80 %
Speed loop gain change ratio VG2 PB16 120 %
Speed integral gain change ratio VIC2 PB17 150 %
The sequence of gain switch:
The states of parameters change :
Name CDP OFF CDP ON CDP OFF
The ratio of load inertia to motor shaft 10 → 20 → 10
Position loop gain 100 → 80 → 100
Speed loop gain 500 → 600 → 500
Speed integral gain 100 → 150 → 100