Mitsubishi Electronics MR-J2S- CL Gain changing operation, Setting, Changing operation

9. SPECIAL ADJUSTMENT FUNCTIONS

9.5.4 Gain changing operation

This operation will be described by way of setting examples.

(1)When you choose changing by external input

(a)Setting

Parameter No.	Abbreviation	Name	Setting	Unit
7	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	4	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
64	GD2B	Ratio of load inertia moment to	100	0.1 times
		servo motor inertia moment 2
65	PG2B	Position control gain 2	70	%
		changing ratio
66	VG2B	Speed control gain 2 changing	133	%
		ratio
67	VICB	Speed integral compensation	250	%
		changing ratio
			0001
68	CDP	Gain changing selection	(Changed by ON/OFF of
			pin CN1A-8)
70	CDT	Gain changing time constant	100	ms

(b) Changing operation

Gain changing	OFF		ON	OFF
(CDP)			After-changing gain
Change of	Before-changing gain		CDT 100ms
each gain
Position control gain 1		100
Speed control gain 1		1000
Ratio of load inertia moment	4.0	10.0		4.0
to servo motor inertia moment
Position control gain 2	120	84		120
Speed control gain 2	3000	4000		3000
Speed integral compensation	20	50		20

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