Mitsubishi Electronics MR-J2S- A 8 - 9, (2) When you choose changing by dro op pulses (a) Setting, (b) Changing operation

8 - 9
8. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by dro op pulses
(a) Setting
Parameter No. Abbreviation Name 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 0.1 times
35 PG2 Position control gain 2 12 0 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 time s
62 PG2B Position control gain 2
changing ratio 70 %
63 VG2B Speed control gain 2 ch anging
ratio 133 %
64 VICB Speed integral compensation
changing ratio 250 %
65 CDP Gain changing selection 0003
(Changed by droop pulses)
66 CDS Gain changing condition 50 pulse
67 CDT Gain changing time constant 100 ms
(b) Changing operation
CDT 100ms
0
Droop pulses [pulses]
Change of each gain
CDS
CDS
Before-changing gain
After-changing gain
Command pulse Droop pulses
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 10.0
Position control gain 2 120 84 120 84
Speed control gain 2 3000 4000 3000 4000
Speed integral compensation 20 50 20 50