Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 267

■Switching timing chart
Control command
from controller
Gain switching
Model loop gain
Load to motor inertia ratio/load to
motor mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 -
Vibration frequency
Vibration suppression control 1 -
Resonance frequency
Vibration suppression control 1 -
Vibration frequency damping
Vibration suppression control 1 -
Resonance frequency damping
Vibration suppression control 2 -
Vibration frequency
Vibration suppression control 2 -
Resonance frequency
Vibration suppression control 2 -
Vibration frequency damping
Vibration suppression control 2 -
Resonance frequency damping
When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching cannot be used.
■Setting example
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain
switching
PB30 PG2B Position loop gain after gain switching
PB31 VG2B Speed loop gain after gain switching
PB32 VICB Speed integral compensation after gain switching
PB26 CDP Gain switching selection
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
OFF
Before-switching gain
CDT = 100 ms
→
100
→
4.00
120 →
→
3000
20
→
→
50
→
50
→
0.20
0.20 →
→
20
→
20
→
0.10
→
0.10
OFF
ON
After-switching gain
63.4%
→
50 100
→
10.00 4.00
84 → 120
→
4000 3000
50 20
→
→
60 50
→
60 50
→
0.15 0.20
0.15 → 0.20
→
30 20
→
30 20
→
0.05 0.10
→
0.05 0.10
Setting value
4.00
120
3000
20
10.00
84
4000
50
0003
(switching by droop pulses)
50
100
7 SPECIAL ADJUSTMENT FUNCTIONS
7.2 Gain switching function
7
Unit
[Multiplier]
[rad/s]
[rad/s]
[ms]
[Multiplier]
[rad/s]
[rad/s]
[ms]

[pulse]
[ms]
265