Gain Changing Operation - Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual

8. SPECIAL ADJUSTMENT FUNCTIONS

8.5.4 Gain changing operation

This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No.
6
36
34
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35
37
38
61
62
63
64
65
67
(b) Changing operation
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
VG1
GD2
PG2
VG2
VIC
GD2B
PG2B
VG2B
VICB
CDP
CDT
OFF
Gain changing
(CDP)
Before-changing gain
Change of
each gain
4.0
120
3000
20
Name
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
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2 changing
ratio
Speed control gain 2 changing
ratio
Speed integral compensation
changing ratio
Gain changing selection
Gain changing time constant
ON
After-changing gain
CDT 100ms
100
1000
10.0
84
4000
50
8 - 8
Setting Unit
100 rad/s
1000 rad/s
Multiplier
4
( 10
120 rad/s
3000 rad/s
20
Multiplier
100
( 10
70
133
250
0001
(Changed by ON/OFF of
pin CN1-10)
100
OFF
4.0
120
3000
20
1
)
ms
1
)
ms