Mitsubishi Electric MELSERVO J5 Series User Manual page 82

When [Pr. PB26.1 Gain switching condition selection] is set to "1" (Enables the gain
after gain switching even when the value set in the conditions for gain switching is not
reached)
Depending on the values in [Pr. PB27 Gain switching condition] and [Pr. PB65 Gain switching 2 condition], the gain will switch
as follows.
■When [Pr. PB65] ≤ [Pr. PB27]
For the case of [Pr. PB65] ≤ [Pr. PB27], the gain switches to "Gain after gain switching 2" when the absolute value of the servo
motor speed is less than the value of [Pr. PB65]. In addition, when the absolute value of the servo motor speed exceeds the
value of [Pr. PB65] and less than the value of [Pr. PB27], the gain switches to "Gain after gain switching". When the absolute
value of the servo motor speed is equal to or more than the value of [Pr. PB27], "Gain before gain switching" is used.
CDL
CDL2
Servo motor
0 r/min
speed
-CDL2
-CDL
Gain after gain switching 2
Gain switching
Load to motor inertia ratio/load
to motor mass ratio
Position control gain
Speed control gain
Speed integral compensation
5 GAIN SWITCHING FUNCTION
80
5.6 Examples of gain switching operation
63.2 %
Gain after gain switching
CDT2
63.2 %
Gain before gain switching
CDT
→ [Pr. PB06]
[Pr. PB67] → [Pr. PB29]
[Pr. PB68] → [Pr. PB30] → [Pr. PB08]
[Pr. PB69] → [Pr. PB31] → [Pr. PB09]
→ [Pr. PB10]
[Pr. PB70] → [Pr. PB32]
Gain after gain switching 2
→ [Pr. PB29]
→ [Pr. PB67]
→ [Pr. PB30] → [Pr. PB68]
→ [Pr. PB31] → [Pr. PB69]
→ [Pr. PB32] → [Pr. PB70]
Gain after gain switching
Gain before gain switching
→ [Pr. PB29]
→ [Pr. PB29] → [Pr. PB06]
→ [Pr. PB30] → [Pr. PB08] → [Pr. PB30]
→ [Pr. PB31] → [Pr. PB09] → [Pr. PB31]
→ [Pr. PB32]
→ [Pr. PB32] → [Pr. PB10]
→ [Pr. PB67]
→ [Pr. PB68]
→ [Pr. PB69]
→ [Pr. PB70]