8. SPECIAL ADJUSTMENT FUNCTIONS

(2)When you choose changing by droop 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

40

0.1 times

servo motor inertia moment

 

 

 

 

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

100

0.1 times

servo motor inertia moment 2

 

 

 

 

62

PG2B

Position control gain 2

70

%

changing ratio

 

 

 

 

63

VG2B

Speed control gain 2 changing

133

%

ratio

 

 

 

 

64

VICB

Speed integral compensation

250

%

changing ratio

 

 

 

 

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

 

 

Command pulse

Droop pulses

 

 

 

 

 

 

 

CDS

 

 

 

 

 

Droop pulses [pulses] 0

 

 

 

CDS

 

 

 

 

 

 

After-changing gain

Change of each gain

Before-changing gain

 

 

 

CDT 100ms

 

 

 

 

Position control gain 1

 

 

100

 

Speed control gain 1

 

 

1000

 

Ratio of load inertia moment

4.0

10.0

4.0

10.0

to servo motor inertia moment

 

 

 

 

Position control gain 2

120

84

120

84

Speed control gain 2

3000

4000

3000

4000

Speed integral compensation

20

50

20

50

8 - 9

Page 166
Image 166
Mitsubishi Electronics MR-J2S- A When you choose changing by droop pulses, Speed integral compensation 250 Changing ratio