Mitsubishi Electric Melservo-J3 Series MR-J3-B Instruction Manual page 170

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No. Abbreviation
PB07 PG1
PB06 GD2
PB08 PG2
PB09 VG2
PB10 VIC
PB29 GD2B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB26 CDP
PB27 CDS
PB28 CDT
(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
Model loop gain
Ratio of load inertia moment to servo motor
inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Gain changing ratio of load inertia moment to
servo motor inertia moment
Gain changing position loop gain
Gain changing speed loop gain
Gain changing speed integral compensation
Gain changing selection
Gain changing condition
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