Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual page 148

8. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No.
6
36
34
35
37
38
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61
62
63
64
65
66
67
(b) Changing operation
Droop pulses [pulses]
Change of each gain
Position control gain 1
Speed control gain 1
Ratio of load inertia moment
to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation
Abbreviation
PG1 Position control gain 1
VG1 Speed control gain 1
Ratio of load inertia moment to
GD2
servo motor inertia moment
PG2 Position control gain 2
VG2 Speed control gain 2
VIC Speed integral compensation
Ratio of load inertia moment to
GD2B
servo motor inertia moment 2
Position control gain 2 changing
PG2B
ratio
Speed control gain 2 changing
VG2B
ratio
Speed integral compensation
VICB
changing ratio
CDP Gain changing selection
CDS Gain changing condition
CDT Gain changing time constant
Command pulse
CDS
0
CDS
Before-changing gain
CDT 100ms
4.0
120
3000
20
Name
(Changed by droop pulses)
After-changing gain
100
1000
10.0
84
4000
50
8 - 9
Setting Unit
100 rad/s
1000 rad/s
Multiplier
40
( 10
120 rad/s
3000 rad/s
20
Multiplier
100
( 10
70
133
250
0003
50 pulse
100
Droop pulses
4.0 10.0
120 84
3000 4000
20 50
1
)
ms
1
)
ms