Mitsubishi Electric MR-J3-10B Instruction Manual page 140

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No. Abbreviation
PB07
PB06
PB08
PB09
PB10
PB29
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PB30
PB31
PB32
PB26
PB27
PB28
(b) Changing operation
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
PG1 Model loop gain
Ratio of load inertia moment to servo motor
GD2
inertia moment
PG2 Position loop gain
VG2 Speed loop gain 2
VIC Speed integral compensation
Gain changing ratio of load inertia moment to
GD2B
servo motor inertia moment
PG2B Gain changing position loop gain
VG2B Gain changing speed loop gain
VICB Gain changing speed integral compensation
CDP Gain changing selection
CDS Gain changing condition
CDT Gain changing 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
7 - 15
Setting
100
4.0
120
3000
20
10.0
84
4000
50
0003
50
100
Droop pulses
4.0 10.0
120 84
3000 4000
20 50
Unit
rad/s
times
rad/s
rad/s
ms
times
rad/s
rad/s
ms
pulse
ms