Mitsubishi Electric MELSERVO J5 Series User Manual page 83

■When [Pr. PB65] is set to "0"
When [Pr. PB65] is set to "0", the gain does not switch to "Gain after gain switching 2". When the absolute value of the servo
motor speed is less than the value of [Pr. PB27], the gain switches to "Gain after gain switching".
CDL
Servo motor
0 r/min
speed
-CDL
Gain after gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB29]
to motor mass ratio
Position control gain [Pr. PB30]
Speed control gain [Pr. PB31]
Speed integral compensation [Pr. PB32]
■When [Pr. PB65] > [Pr. PB27]
For the case of [Pr. PB65] > [Pr. PB27], the gain does not switch to "Gain after gain switching". When the absolute value of the
servo motor speed is less than the value of [Pr. PB65], the gain switches to "Gain after gain switching 2". However, the gain
does not switch to "Gain after gain switching" even when the absolute value is less than the value of [Pr. PB27].
CDL2
CDL
Servo motor
0 r/min
speed
-CDL
-CDL2
Gain after gain switching 2
Gain before gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB67]
to motor mass ratio
Position control gain [Pr. PB68]
Speed control gain [Pr. PB69]
Speed integral compensation [Pr. PB70]
63.2 %
Gain before gain switching
CDT
→ [Pr. PB06]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
63.2 %
CDT2
→ [Pr. PB06]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
Gain after gain switching
Gain before gain switching
→ [Pr. PB29] → [Pr. PB06]
→ [Pr. PB30] → [Pr. PB08]
→ [Pr. PB31] → [Pr. PB09]
→ [Pr. PB32] → [Pr. PB10]
Gain after gain switching 2
Gain before gain switching
→ [Pr. PB67] → → [Pr. PB06]
→ [Pr. PB68] → → [Pr. PB08]
→ [Pr. PB69] → → [Pr. PB09]
→ [Pr. PB70] → → [Pr. PB10]
5 GAIN SWITCHING FUNCTION
5.6 Examples of gain switching operation
5
→ [Pr. PB29]
→ [Pr. PB30]
→ [Pr. PB31]
→ [Pr. PB32]
→ [Pr. PB67]
→ [Pr. PB68]
→ [Pr. PB69]
→ [Pr. PB70]
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