Mitsubishi Electronics MR-J2S- CL specifications 2When you choose changing by droop pulses

9. SPECIAL ADJUSTMENT FUNCTIONS

(2)When you choose changing by droop pulses

(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	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
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
68	CDP	Gain changing selection	0003
			(Changed by droop pulses)
69	CDS	Gain changing condition	50	pulse
70	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

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