Gain Switching Procedure - Mitsubishi Electric MELSERVO-J3 Series Instruction Manual

10. SPECIAL ADJUSTMENT FUNCTIONS

10.6.4 Gain switching procedure

This operation will be described by way of setting examples.
(1) When you choose changing by input device
(a) Setting
Parameter
Abbreviation
No.
PB07 PG1
PB06 GD2
PB08 PG2
PB09 VG2
PB10 VIC
PB29 GD2B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB26 CDP
PB28 CDT
PB33 VRF1B
PB34 VRF2B
(b) Changing timing chart
Gain changing
(RY(n+2))
Change of
each gain
Model loop gain 1
Ratio of load inertia moment
to servo motor inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control -
vibration frequency setting
Vibration suppression control -
resonance frequency setting
Name
Model loop gain
Ratio of load inertia moment to servo motor
inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Gain switching - ratio of load inertia moment
to servo motor inertia moment
Gain switching - position loop gain
Gain switching - speed loop gain
Gain switching - speed integral compensation
Gain switching selection
Gain switching time constant
Gain switching - vibration suppression control
vibration frequency setting
Gain switching - vibration suppression control
resonance frequency setting
OFF
Before-changing gain
4.0
120
3000
20
50
50
(Changed by ON/OFF of Input device)
Used to set the value of the after-changing
vibration suppression control vibration
frequency setting.
Used to set the value of the after-changing
vibration suppression control resonance
frequency setting.
ON
After-changing gain
CDT 100ms
100
10.0
84
4000
50
60
60
10 - 14
Setting
100
Multiplier
4.0
120
3000
20
Multiplier
10.0
84
4000
50
0001
100
OFF
4.0
120
3000
20
50
50
Unit
rad/s
( 1)
rad/s
rad/s
ms
( 1)
rad/s
rad/s
ms
ms
Hz
Hz