Gain Changing Operation - Mitsubishi Electric MR-J3-10B Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.6.4 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. Abbreviation
PB07
PB06
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PB08
PB09
PB10
PB29
PB30
PB31
PB32
PB26
PB28
PB33
PB34
(b) Changing operation
Model loop gain 1
Ratio of load inertia moment
to servo motor inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
PG1 Model loop gain
Ratio of load inertia moment to servo motor
GD2
inertia moment
PG2 Position loop gain
VG2 Speed loop gain
VIC Speed integral compensation
Gain changing ratio of load inertia moment
GD2B
to servo motor inertia moment
PG2B Gain changing position loop gain
VG2B Gain changing speed loop gain
VICB Gain changing speed integral compensation
CDP Gain changing selection
CDT Gain changing time constant
Gain changing vibration suppression control
VRF1B
vibration frequency setting
Gain changing vibration suppression control
VRF2B
resonance frequency setting
OFF
Control command
of controller
Before-changing gain
Change of
each gain
4.0
120
3000
20
Name
(Changed by ON/OFF of Input signal)
Used to set the value of the after-changing
vibration
frequency setting.
Used to set the value of the after-changing
vibration
frequency setting.
ON
After-changing gain
CDT 100ms
100
10.0
84
4000
50
7 - 14
Setting
100
4.0
120
3000
20
10.0
84
4000
50
0001
100
suppression control vibration
suppression control resonance
OFF
4.0
120
3000
20
Unit
rad/s
times
rad/s
rad/s
ms
times
rad/s
rad/s
ms
ms
Hz
Hz