Mitsubishi Electric MELSERVO-J4 MR-J4 A Series Instruction Manual page 231

7. SPECIAL ADJUSTMENT FUNCTIONS
(b) Switching timing chart
Model loop gain
Load to motor inertia ratio
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 - Vibration
frequency
Vibration suppression
Resonance frequency
Vibration suppression control 1 - Vibration
frequency dumping setting
Vibration suppression
Resonance frequency dumping setting
Vibration suppression control 2 - Vibration
frequency
Vibration suppression
Resonance frequency
Vibration suppression control 2 - Vibration
frequency dumping setting
Vibration suppression
Resonance frequency dumping setting
(2) When you choose switching by droop pulses
In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.
(a) Setting
CDP (gain switching)
Before-switching gain
Gain switching
control 1 -
control 1 -
control 2 -
control 2 -
Parameter Symbol
PB06 GD2 Load to motor inertia ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
PB29 GD2B Load to motor inertia ratio after
gain switching
PB30 PG2B Position loop gain after gain
switching
PB31 VG2B Speed loop gain after gain
switching
PB32 VICB Speed integral compensation after
gain switching
PB26 CDP Gain switching selection
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
OFF
CDT = 100ms
100
4.00
120
3000
20
50
50
0.20
0.20
20
20
0.10
0.10
Name
7 - 20
ON
After-switching gain
63.4%
50
10.00
84
4000
50
60
60
0.15
0.15
30
30
0.05
0.05
Setting value
4.00
120
3000
20
10.00
84
4000
50
0003
(switching by droop pulses)
50
100
OFF
100
4.00
120
3000
20
50
50
0.20
0.20
20
20
0.10
0.10
Unit
[Multiplier]
[rad/s]
[rad/s]
[ms]
[Multiplier]
[rad/s]
[rad/s]
[ms]
[pulse]
[ms]