Mitsubishi MR-J4-10A Instruction Manual page 283

7. SPECIAL ADJUSTMENT FUNCTIONS
(b) Switching timing chart
Droop pulses
[pulse]
Gain switching
Load to motor inertia ratio
Position loop gain
Speed loop gain
Speed integral compensation
Command pulses
+CDL
0
-CDL
Before-switching gain
4.00 →
120 →
3000 →
20 →
7 - 22
Droop pulses
After-switching gain
63.4%
CDT = 100 ms
10.00 →
84 →
4000 →
50 →
Command pulses
4.00 → 10.00
120 → 84
3000 → 4000
20 → 50