Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 268

■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
When the gain switching time constant is disabled
■Time constant disabled at switching
The gain switching time constant is disabled. 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)
■Time constant disabled at returning
The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
CDP (Gain switching)
Before-switching gain
Gain switching
7 SPECIAL ADJUSTMENT FUNCTIONS
266
7.2 Gain switching function
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
OFF
After-switching gain
63.4%
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
Droop pulses
After-switching gain
63.4%
CDT = 100 ms
→
10.00
→
84
→
4000
→
50
After-switching gain
63.4%
ON
Command pulses
→
4.00 10.00
→
120 84
→
3000 4000
→
20 50
Droop pulses
After-switching gain
Switching at 0 ms
CDT = 100 ms
OFF
Return time constant disabled
Switching at 0 ms