Mitsubishi Electric MR-J2M-P8B Instruction Manual page 121

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
DRU Parameter No.
13
14
12
15
16
17
52
53
54
55
49
50
51
(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
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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
7 - 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