Mitsubishi Electric MR-J2S-A Instruction Manual page 194

Servo amplifier
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8. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No.
6
36
34
35
37
38
61
62
63
64
65
66
67
(b) Changing operation
Droop pulses [pulses]
0
Change of each gain
Position control gain 1
Speed control gain 1
Ratio of load inertia moment
to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation
Abbreviation
PG1
Position control gain 1
VG1
Speed control gain 1
Ratio of load inertia moment to
GD2
servo motor inertia moment
PG2
Position control gain 2
VG2
Speed control gain 2
VIC
Speed integral compensation
Ratio of load inertia moment to
GD2B
servo motor inertia moment 2
Position control gain 2
PG2B
changing ratio
Speed control gain 2 changing
VG2B
ratio
Speed integral compensation
VICB
changing ratio
CDP
Gain changing selection
CDS
Gain changing condition
CDT
Gain changing time constant
Command pulse
CDS
CDS
Before-changing gain
CDT 100ms
4.0
120
3000
20
8 - 9
WWW.NNC.IR
Name
(Changed by droop pulses)
After-changing gain
100
1000
10.0
4.0
84
120
4000
3000
50
20
Setting
Unit
100
rad/s
1000
rad/s
40
0.1 times
120
rad/s
3000
rad/s
20
ms
100
0.1 times
70
%
133
%
250
%
0003
50
pulse
100
ms
Droop pulses
10.0
84
4000
50

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