Mitsubishi Electric MR-JE-_A Instruction Manual page 241

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching cannot
be used.
(a) Setting
(b) Switching timing chart
Droop pulses
[pulse]
Gain switching
Load to motor inertia ratio
Position loop gain
Speed loop gain
Speed integral compensation
Parameter Symbol
PB06 GD2 Load to motor inertia ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
PB29 GD2B Load to motor inertia ratio after
gain switching
PB30 PG2B Position loop gain after gain
switching
PB31 VG2B Speed loop gain after gain
switching
PB32 VICB Speed integral compensation after
gain switching
PB26 CDP Gain switching function
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
Command pulses
+CDL
0
-CDL
Before-switching gain
4.00
120
3000
20
Name
Droop pulses
After-switching gain
63.4%
CDT = 100 ms
→
10.00
→
84
→
4000
→
50
7 - 20
Setting value
4.00
120
3000
20
10.00
84
4000
50
0003
(switching by droop pulses)
50
100
Command pulses
→ →
4.00
→ →
120
→ →
3000
→ →
20
Unit
[Multiplier]
[rad/s]
[rad/s]
[ms]
[Multiplier]
[rad/s]
[rad/s]
[ms]
[pulse]
[ms]
10.00
84
4000
50