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5
GAIN SWITCHING FUNCTION
This function enables the gain switching. The gains can be switched depending on whether the motor is in rotation/stop, or on
the command directions. Using a control command from a controller can also switch the gains during operation. The gain
switching is used when:
• Increasing the gain during the servo-lock is required, but decreasing the gains is also needed to suppress drive noise
during rotation.
• Increasing the gains during settling is needed in order to shorten the stop settling time.
• Since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is placed on a carrier), switch the gains
using a control command from an input device or a controller to ensure the stability of the servo system.
5.1
Restrictions on gain switching [G] [WG]
• When [Pr. PA08.0 Gain adjustment mode selection] is set to a value other than "3" (manual mode), the gain switching
cannot be used.
• Gain switching vibration suppression control ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]) and [Pr. PB60 Gain
switching - Model control gain] can be used with the input device (CDP) or the Bit 4 (C_CDP) of [Control DI 1 (Obj. 2D01h)].
• Gain switching 2 vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain
switching 2 - Model control gain] can be used with the input device (CDP2) or with the Bit 4 (C_CDP2) of [Control DI5 (Obj.
2D05h)].
• Gain switching is enabled in the position mode when the direction command is selected for gain switching and gain
switching during a stop is enabled.
• Slight vibration suppression control does not allow switching of the load to motor inertia ratio/load to motor mass ratio, the
model control gain, the position control gain, the speed control gain, and the speed integral compensation.
5.2
Restrictions on gain switching [A]
• When [Pr. PA08.0 Gain adjustment mode selection] is set to a value other than "3" (manual mode), the gain switching
cannot be used.
• Gain switching vibration suppression control ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]) and [Pr. PB60 Gain
switching - Model control gain] can be used with the input device (CDP).
• Gain switching 2 vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain
switching 2 - Model control gain] can be used with the input device (CDP2).
• Gain switching is enabled in the position mode when the direction command is selected for gain switching and gain
switching during a stop is enabled.
• Slight vibration suppression control does not allow switching of the load to motor inertia ratio/load to motor mass ratio, the
model control gain, the position control gain, the speed control gain, and the speed integral compensation.
5.3
Precautions on gain switching [G] [WG]
• If the gain difference is large at gain switching, and the value in [Pr. PB28 Gain switching time constant] is small, the
machine may operate unexpectedly at gain switching. In this case, increase the value in [Pr. PB28 Gain switching time
constant].
• When the conditions for "Gain switching" and "Gain switching 2" are established at the same time, the servo parameters
after gain switching 2 are set as the actual gain to be used.
5 GAIN SWITCHING FUNCTION
5.1 Restrictions on gain switching [G] [WG]
5
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