Mitsubishi Electronics MR-J2S- A Position control gain Rad/s, Speed control gain Rad/s

8. SPECIAL ADJUSTMENT FUNCTIONS

8.3.3 Parameters

When using the gain changing function, always set " 4 " in parameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.

Parameter	Abbrevi		Name	Unit				Description
No.	ation
6	PG1	Position control gain 1		rad/s	Position and speed gains of a model used to set the response
36	VG1	Speed control gain 1		rad/s	level to a command. Always valid.
34	GD2	Ratio of load inertia moment to		0.1	Control parameters before changing
		servo motor inertia moment		times
35	PG2	Position control gain 2		rad/s
37	VG2	Speed control gain 2		rad/s
38	VIC	Speed integral compensation		ms
		Ratio of load inertia moment to		0.1	Used to set	the	ratio	of load	Control parameters after
61	GD2B				inertia moment to		servo motor		changing
		servo motor inertia moment 2		times
					inertia moment after changing.
		Position control gain 2 changing			Used to set the ratio (%) of the
62	PG2B			%	after-changing	position		control
		ratio
					gain 2 to PG2.
		Speed	control gain 2 changing		Used to set the ratio (%) of the
63	VG2B			%	after-changing speed control gain
		ratio
					2 to VG2.
		Speed	integral compensation		Used to set the ratio (%) of the
64	VICB			%	after-changing	speed		integral
		changing ratio
					compensation to VIC.
65	CDP	Gain changing selection			Used to select the changing condition.
				kpps,	Used to set the changing condition values.
66	CDS	Gain changing condition		pulse,
				r/min
67	CDT	Gain changing time constant		ms	You can set the filter time constant for a gain change at
					changing.

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