Mitsubishi Electronics MR-J2S- A 8 - 8, (b) Changing operation

8 - 8
8. SPECIAL ADJUSTMENT FUNCTIONS
8.3.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by externa l input
(a) Setting
Parameter No. Abbreviation Nam e Setting Unit
6 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
34 GD2 Ratio of load inertia moment to
servo motor inertia moment 40.1 times
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
61 GD2B Ratio of load inertia moment to
servo motor inertia moment 2 100 0.1 times
62 PG2B Position control gain 2
changing ratio 70 %
63 VG2B Speed control gain 2 changing
ratio 133 %
64 VICB Speed integral compensation
changing ratio 250 %
65 CDP Gain changing selection 0001 (Changed by ON/OFF of
pin CN1A-8)
67 CDT Gain changing time constant 100 ms
(b) Changing operation
OFF ON OFF
Gain changing
(CDP)
Change of
each gain
Before-changing gain
After-changing gain
CDT 100ms
Position control gain 1 100
Speed control gain 1 1000
Ratio of load inertia moment
to servo motor inertia moment 4. 0 10.0 4.0
Position control gain 2 120 84 120
Speed control gain 2 3000 4000 3000
Speed integral compensation 20 50 20