Mitsubishi Electric MELSERVO-J3 Series Instruction Manual page 356

10. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter
Abbreviation
No.
PB07 PG1
PB06 GD2
PB08 PG2
PB09 VG2
PB10 VIC
PB29 GD2B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB26 CDP
PB27 CDS
PB28 CDT
(b) Changing timing chart
Droop pulses [pulses]
Change of each gain
Model loop gain
Ratio of load inertia moment
to servo motor inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Name
Model loop gain
Ratio of load inertia moment to servo motor
inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Gain switching - ratio of load inertia moment to
servo motor inertia moment
Gain switching - position loop gain
Gain switching - speed loop gain
Gain switching - speed integral compensation
Gain switching selection
Gain switching condition
Gain switching time constant
Command pulse
CDS
0
CDS
Before-changing gain
4.0
120
3000
20
(Changed by droop pulses)
After-changing gain
CDT = 100ms
100
10.0
84
4000
50
10 - 15
Setting
100
4.0
120
3000
20
10.0
84
4000
50
0003
50
100
Droop pulses
4.0 10.0
120
3000 4000
20
Unit
rad/s
Multiplier
( 1)
rad/s
rad/s
ms
Multiplier
( 1)
rad/s
rad/s
ms
pulse
ms
84
50