Selected - Mitsubishi Electric MELSERVO J5 Series User Manual

When "Switching time constant disabled" of "Gain switching time
constant disabling condition selection" is selected
The time constant is disabled at gain switching. The time constant becomes enabled at gain return.
The following illustrates the example description where [Pr. PB26.0 Gain switching selection] is set to "4" (Servo motor
speed).
CDL2
CDL
Servo motor
0 r/min
speed
-CDL
-CDL2
Time constant disabled
at gain switching
Switching at 0 ms
Gain before gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB06]
to motor mass ratio
Position control gain [Pr. PB08]
Speed control gain [Pr. PB09]
Speed integral compensation [Pr. PB10]
When "Return time constant disabled" of "Gain switching time
constant disabling condition selection" is selected
The time constant is enabled at gain switching. The time constant becomes disabled at gain return.
The following illustrates the example description where [Pr. PB26.0 Gain switching selection] is set to "4" (Servo motor
speed).
CDL2
CDL
Servo motor
0 r/min
speed
-CDL
-CDL2
Switching with time constant set in [Pr. PB28]
and [Pr. PB65] only when gain switching is ON
(when switching)
Gain before gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB06]
to motor mass ratio
Position control gain [Pr. PB08]
Speed control gain [Pr. PB09]
Speed integral compensation [Pr. PB10]
Gain after gain switching 2
Gain after gain switching
Switching with time constant set in [Pr. PB28]
only when gain switching is OFF (at gain return)
→ [Pr. PB29] → [Pr. PB67] → [Pr. PB29]
→ [Pr. PB30] → [Pr. PB68] → [Pr. PB30]
→ [Pr. PB31] → [Pr. PB69] → [Pr. PB31]
→ [Pr. PB32] → [Pr. PB70] → [Pr. PB32]
Gain after gain switching 2
63.2 %
Gain after gain switching
CDT2
63.2 % Time constant disabled at gain return
Switching at 0 ms
CDT
→ [Pr. PB29] → [Pr. PB67] → [Pr. PB29]
→ [Pr. PB30] → [Pr. PB68] → [Pr. PB30]
→ [Pr. PB31] → [Pr. PB69] → [Pr. PB31]
→ [Pr. PB32] → [Pr. PB70] → [Pr. PB32]
Gain after gain switching Gain after gain switching
63.2 %
Gain before gain switching
CDT
→ [Pr. PB06] → [Pr. PB29]
→ [Pr. PB08] → [Pr. PB30]
→ [Pr. PB09] → [Pr. PB31]
→ [Pr. PB10] → [Pr. PB32]
Gain after gain switching Gain after gain switching
Gain before gain switching
→ [Pr. PB06] → [Pr. PB29]
→ [Pr. PB08] → [Pr. PB30]
→ [Pr. PB09] → [Pr. PB31]
→ [Pr. PB10] → [Pr. PB32]
5.6 Examples of gain switching operation
Gain after gain switching 2
→ [Pr. PB67] → [Pr. PB29]
→ [Pr. PB06]
→ [Pr. PB68] → [Pr. PB30] → [Pr. PB08]
→ [Pr. PB69] → [Pr. PB31] → [Pr. PB09]
→ [Pr. PB70] → [Pr. PB32] → [Pr. PB10]
Gain after gain switching 2
→ [Pr. PB67] → [Pr. PB29] → [Pr. PB06]
→ [Pr. PB68] → [Pr. PB30]
→ [Pr. PB08]
→ [Pr. PB69] → [Pr. PB31] → [Pr. PB09]
→ [Pr. PB70] → [Pr. PB32] → [Pr. PB10]
5 GAIN SWITCHING FUNCTION
5
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