User`s manual

5-35
5
Functions
5. Functions
5.11 Gain change function
The gain change function is a function for changing the position and speed control gain
during operation and is used in the following cases.
• To raise the control gain during servo-lock but to lower the gain to reduce noise
during run.
• To raise the control gain during settling to shorten the settling time.
5.11.1 Changing the control gain
A block diagram of the gain change function is shown below.
+
+
Position control
cut-off
frequency
Fd-09
Second position
control cut-off
frequency
Fd-32
Fd-33
Speed control
cut-off
frequency
Position gain
change time
constant
Fd-01
Position
command
Position
error
Speed
command
Position
control
Torque
command
Speed
Position
Detector
Robot
Speed
control
Input terminal
function
Position
error width
for gain
change
Gain change
mode
Fd-30
Fd-31
FC-40
No gain change
Auto change
• non
• AUto
Gain
change
Switching signal