Mitsubishi Electric MR-J2S-CP Instruction Manual page 228

9. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No.
7
36
34
35
37
38
64
65
66
67
68
69
70
(b) Changing operation
Droop pulses [pulses]
Change of each gain
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
CDS
CDT
Command pulse
CDS
0
CDS
Before-changing 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 condition
Gain changing time constant
After-changing gain
CDT 100ms
100
1000
10.0
84
4000
50
9 - 9
Setting
100
1000
40
120
3000
20
100
70
133
250
0003
(Changed by droop pulses)
50
100
Droop pulses
4.0 10.0
120 84
3000 4000
20 50
Unit
rad/s
rad/s
0.1 times
rad/s
rad/s
ms
0.1 times
%
%
%
pulse
ms