Mitsubishi Electric MELSERVO-JN Series Instruction Manual page 217

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When gain changing by droop pulses is selected:
In this case, gain changing vibration suppression control cannot be used.
(a) Setting
Parameter No. Abbreviation
PB06 GD2
PB07 PG1
PB08 PG2
PB09 VG2
PB10 VIC
PB29 GD2B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB26 CDP
PB27 CDL
PB28 CDT
(b) Timing chart at changing
Droop pulses [pulses] 0
Change of each gain
Model loop gain
Load to motor inertia moment
ratio
Position loop gain
Speed loop gain
Speed integral compensation
Name
Load to motor inertia moment ratio
Model loop gain
Position loop gain
Speed loop gain 2
Speed integral compensation
Gain changing load to motor inertia moment
ratio
Gain changing position loop gain
Gain changing speed loop gain
Gain changing speed integral compensation
Gain changing
Gain changing condition
Gain changing time constant
Command pulse
CDL
CDL
Before-changing gain
4.0
120
3000
20
(Changed by droop pulses)
Droop pulses
After-changing gain
63.4%
CDT = 100ms
100
10.0
84
4000
50
7 - 18
Setting
4.0
100
120
3000
20
10.0
84
4000
50
003
50
100
4.0 10.0
120 84
3000 4000
20 50
Unit
Multiplier
( 1)
rad/s
rad/s
rad/s
ms
Multiplier
( 1)
rad/s
rad/s
ms
pulse
ms