Mitsubishi Electric MELSERVO-J3 Series Manual page 337

Part 5: Common Reference Material
b) Switching timing chart
Model loop gain
Load to motor inertia ratio/load to motor
mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 - Vibration
frequency
Vibration suppression control 1 -
Resonance frequency
Vibration suppression control 1 - Vibration
frequency damping
Vibration suppression control 1 -
Resonance frequency damping
Vibration suppression control 2 - Vibration
frequency
Vibration suppression control 2 -
Resonance frequency
Vibration suppression control 2 - Vibration
frequency damping
Vibration suppression control 2 -
Resonance frequency damping
2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching
cannot be used.
a) Setting example
Control command
from controller
Before-switching gain
Gain switching
Parameter Symbol
Load to motor inertia ratio/load to
PB06 GD2
motor mass ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
Load to motor inertia ratio/load to
PB29 GD2B motor mass ratio after gain
switching
Position loop gain after gain
PB30 PG2B
switching
Speed loop gain after gain
PB31 VG2B
switching
Speed integral compensation after
PB32 VICB
gain switching
PB26 CDP Gain switching selection
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
OFF
CDT = 100 ms
100 →
4.00 →
120 →
3000 →
20 →
50 →
50 →
0.20 →
0.20 →
20 →
20 →
0.10 →
0.10 →
Name
5 - 152
ON
After-switching gain
63.4%
50 →
10.00 →
84 →
4000 →
50 →
60 →
60 →
0.15 →
0.15 →
30 →
30 →
0.05 →
0.05 →
Setting value
4.00
120
3000
20
10.00
84
4000
50
0003
(switching by droop pulses)
50
100
OFF
100
4.00
120
3000
20
50
50
0.20
0.20
20
20
0.10
0.10
Unit
[Multiplier]
[rad/s]
[rad/s]
[ms]
[Multiplier]
[rad/s]
[rad/s]
[ms]
[pulse]
[ms]