17. APPLICATION OF FUNCTIONS
17 - 39
(c) Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the
auto tuning mode.
1) Parameter for setting gain switching condition
Parameter Symbol
Name
Unit
Description
PB26
CDP
Gain switching selection
Select a switching condition.
PB27
CDL
Gain switching condition
[kpulse/s]
/[pulse]
/[r/min]
Set a switching condition values.
PB28
CDT
Gain switching time constant
[ms]
You can set the filter time constant for a gain change at
changing.
a) [Pr. PB26 Gain switching function]
Set the gain switching condition. Select the switching condition in the first to third digits.
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
0
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
[Pr. PB26]
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
b) [Pr. PB27 Gain switching condition]
Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo
motor speed/linear servo motor speed" in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition
Unit
Command frequency
[kpulse/s]
Droop pulses
[pulse]
Servo motor speed/linear servo motor speed
[r/min]/[mm/s]
c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. Use this parameter to
suppress shock given to the machine if the gain difference is large at gain switching, for
example.
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