Examples Of Gain Switching Operation; Gain Switching By Servo Motor Speed - Mitsubishi Electric MR-J5 User Manual

5.6

Examples of gain switching operation

Gain switching by servo motor speed

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 "2" (the same condition as [Pr. PB26.0 Gain switching selection]).
When [Pr. PB26.1 Gain switching condition selection] is set to "0" (Enables the gain
after gain switching when the value set in the conditions for gain switching is reached)
Depending on the values in [Pr. PB27 Gain switching condition] and [Pr. PB65 Gain switching 2 condition], the gain will switch
as follows.
■When [Pr. PB65] ≥ [Pr. PB27]
For the case of [Pr. PB65] ≥ [Pr. PB27], the gain switches to "Gain after gain switching" when the absolute value of the servo
motor speed exceeds the value of [Pr. PB27]. In addition, when the absolute value of the servo motor speed exceeds the
value of [Pr. PB65], the gain switches to "Gain after switching 2".
CDL2
CDL
Servo motor
0 r/min
speed
-CDL
-CDL2
Gain after gain switching
Gain before gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB06]
to motor mass ratio
Position control gain [Pr. PB08]
Speed control gain [Pr. PB09]
Speed integral compensation [Pr. PB10]
Gain after gain switching 2
63.2 %
CDT2
63.2 %
CDT
→ [Pr. PB29] → [Pr. PB67] → [Pr. PB29]
→ [Pr. PB30] → [Pr. PB68] → [Pr. PB30]
→ [Pr. PB31] → [Pr. PB69] → [Pr. PB31]
→ [Pr. PB32] → [Pr. PB70] → [Pr. PB32]
Gain after gain switching 2
Gain after gain switching
Gain before gain switching
→ [Pr. PB06] → [Pr. PB29] → [Pr. PB67]
→ [Pr. PB68]
→ [Pr. PB08] → [Pr. PB30]
→ [Pr. PB09] → [Pr. PB31] → [Pr. PB69]
→ [Pr. PB10] → [Pr. PB32] → [Pr. PB70]
5 GAIN SWITCHING FUNCTION
5.6 Examples of gain switching operation
→ [Pr. PB29] → [Pr. PB06]
→ [Pr. PB30]
→ [Pr. PB08]
→ [Pr. PB31] → [Pr. PB09]
→ [Pr. PB32] → [Pr. PB10]
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