Gain Switching By Control Commands From The Controller And Gain Switching 2 [B] - Mitsubishi Electric MR-J5 User Manual

Gain switching by control commands from the controller and
gain switching 2 [B]
The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "4" (servo motor speed) and [Pr.
PB26.4 Gain switching 2 selection] is set to "1" (control command from the controller).
In this case, the setting of [Pr. PB65 Gain switching 2 condition] is disabled, and "Gain switching 2" can be enabled/disabled
by turning on/off the control command from the controller. In addition, gain switching 2 vibration suppression control ([Pr.
PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain switching 2 - Model control gain] are used by turning on the
control command from the controller.
ON
Control command
from the controller
OFF
CDL
Servo motor
0 r/min
speed
-CDL
Gain after gain switching
Gain before gain switching
Gain switching
Load to motor inertia ratio/load to
[Pr. PB06]
motor mass ratio
[Pr. PB07]
Model control gain
[Pr. PB08]
Position control gain
[Pr. PB09]
Speed control gain
[Pr. PB10]
Speed integral compensation
Vibration suppression control 1 -
[Pr. PB19]
Vibration frequency
Vibration suppression control 1 -
[Pr. PB20]
Resonance frequency
Vibration suppression control 1 -
[Pr. PB21]
Vibration frequency/damping
coefficient
Vibration suppression control 1 -
[Pr. PB22]
Resonance frequency/damping
coefficient
Vibration suppression control 2 -
[Pr. PB52]
Vibration frequency
Vibration suppression control 2 -
[Pr. PB53]
Resonance frequency
Vibration suppression control 2 -
Vibration frequency/damping [Pr. PB54]
coefficient
Vibration suppression control 2 -
[Pr. PB55]
Resonance frequency/damping
coefficient
Gain after gain switching 2
63.2 %
CDT2
63.2 %
CDT
→ → [Pr. PB67] → [Pr. PB06]
→ → [Pr. PB79] → [Pr. PB07]
→ [Pr. PB30] → [Pr. PB68] → [Pr. PB30]
→ [Pr. PB31] → [Pr. PB69] → [Pr. PB31]
→ [Pr. PB32] → [Pr. PB70] → [Pr. PB32]
→ → [Pr. PB71] → [Pr. PB19]
→ → [Pr. PB72] → [Pr. PB20]
→ → [Pr. PB73] → [Pr. PB21]
→ → [Pr. PB74] → [Pr. PB22]
→ → [Pr. PB75] → [Pr. PB52]
→ → [Pr. PB76] → [Pr. PB53]
→ → [Pr. PB77] → [Pr. PB54]
→ → [Pr. PB78] → [Pr. PB55]
Gain after gain switching 2
63.2 %
Gain before gain
switching
→ [Pr. PB67]
→ [Pr. PB79]
→ [Pr. PB08] → [Pr. PB68]
→ [Pr. PB09] → [Pr. PB69]
→ [Pr. PB10] → [Pr. PB70]
→ [Pr. PB71]
→ [Pr. PB72]
→ [Pr. PB73]
→ [Pr. PB74]
→ [Pr. PB75]
→ [Pr. PB76]
→ [Pr. PB77]
→ [Pr. PB78]
5 GAIN SWITCHING FUNCTION
5.6 Examples of gain switching operation
5
→ [Pr. PB06]
→ [Pr. PB07]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
→ [Pr. PB19]
→ [Pr. PB20]
→ [Pr. PB21]
→ [Pr. PB22]
→ [Pr. PB52]
→ [Pr. PB53]
→ [Pr. PB54]
→ [Pr. PB55]
101