Mitsubishi Electric MELSERVO-JE MR-JE-70A Instruction Manual page 214

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose switching by droop pulses
In this case, 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 Gain switching position loop gain
PB31 VG2B Gain switching speed loop gain
PB32 VICB Speed integral compensation after
gain switching
PB26 CDP Gain switching selection
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 - 19
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