Mitsubishi MR-JE-10A Instruction Manual page 227

Servo amplifiers
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7. SPECIAL ADJUSTMENT FUNCTIONS
(3) When the gain switching time constant is disabled
(a) Gain switching time constant disabled was selected.
The gain switching time constant is disabled with this setting. The time constant is enabled at gain
return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
PB28 (CDT)] = 100 [ms].
Droop pulses [pulse]
Gain switching
(b) Gain return time constant disabled was selected.
The gain switching time constant is enabled with this setting. The time constant is disabled at gain
return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28
(CDT)] = 100 [ms].
Command pulses
+100 pulses
0
-100 pulses
Switching time constant disabled
Switching at 0 ms
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain
switching off (when returning)
CDP (Gain switching)
Before-switching gain
Gain switching
After-switching gain
63.4%
OFF
After-switching gain
63.4%
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain
switching on (when switching)
7 - 20
Droop pulses
After-switching gain
Switching at 0 ms
CDT = 100 ms
OFF
ON
Return time
constant disabled
Switching at 0 ms

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