Mitsubishi Electric MR-J2S-CP Instruction Manual page 226

9. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No. 7, 34 to 38
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: parameter No. 64)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (parameter No. 34).
(3) Position control gain 2 changing ratio (parameter No. 65), speed control gain 2 changing ratio (parameter
No. 66), speed integral compensation changing ratio (parameter No. 67)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2
compensation 20 and position control gain 2 changing ratio
ratio 150% and speed integral compensation changing ratio
follows.
Position control gain 2
Speed control gain 2
Speed integral compensation
ratio /100 16ms
(4) Gain changing selection (parameter No. 68)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP) external input signal for gain changing. The gain changing
signal (CDP) can be assigned to the pins using the MR Configurator (servo configuration software).
Parameter No. 68
(5) Gain changing condition (parameter No. 69)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.68), set the gain changing level.
The setting unit is as follows.
(6) Gain changing time constant (parameter No. 70)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.
Position control gain 2
Speed control gain 2
Speed integral compensation
Gain changing selection
Gains are changed in accordance with the settings of
parameters No. 64 to 67 under any of the following conditions:
0: Invalid
1: Gain changing (CDP) input is ON
2: Command frequency is equal to higher than parameter No. 69 setting
3: Droop pulse value is equal to higher than parameter No. 69 setting
4: Servo motor speed is equal to higher than parameter No. 69 setting
Gain changing condition
Command frequency
Droop pulses
Servo motor speed
100, speed control gain 2
180%, speed control gain 2 changing
80%, the after-changing values are as
Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 changing ratio /100
Speed integral compensation changing
9 - 7
2000, speed integral
Unit
kpps
pulse
r/min
3000rad/s