Mitsubishi Electric MR-J4 Instruction Manual page 235

7. SPECIAL ADJUSTMENT FUNCTIONS
(b) Switching timing chart
Droop pulses
[pulse]
Gain switching
Load to motor inertia ratio/load to motor
mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
(3) When the gain switching time constant is disabled
(a) Gain switching time constant disabled was selected.
The gain switching time constant is disabled with this setting. The time constant is enabled at gain
return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
PB28 (CDT)] = 100 [ms].
Droop pulses [pulse]
Gain switching
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
Command pulses
+CDL
0
-CDL
Before-switching gain
4.00 →
120 →
3000 →
20 →
Command pulses
+100 pulses
0
-100 pulses
Switching time constant
disabled
Switching at 0 ms
Before-switching gain
7 - 22
Droop pulses
After-switching gain
63.4%
CDT = 100 ms
10.00 →
84 →
4000 →
50 →
After-switching gain
63.4%
CDT = 100 ms
Command pulses
4.00 → 10.00
120 → 84
3000 → 4000
20 → 50
Droop pulses
After-switching gain
Switching at 0 ms