Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - Page 232

7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 21
(b) Switching timing chart
ಾ឵߃ᓟ
ࠥࠗࡦ
63.4%
CDT = 100ms
ಾ឵߃೨
ࠥࠗࡦ
ฦࠥࠗࡦ
ߩᄌൻ
ḳࠅࡄ࡞ࠬ[pulse]
+CDL
CDL
0
ᜰ઎ࡄ࡞ࠬ
ḳࠅࡄ࡞ࠬ
Load to motor inertia ratio 4.00 ĺ 10.00 ĺ 4.00 ĺ 10.00
Position loop gain 120 ĺ 84 ĺ 120 ĺ 84
Speed loop gain 3000 ĺ 4000 ĺ 3000 ĺ 4000
Speed integral compensation 20 ĺ 50 ĺ 20 ĺ 50
Droop pulses
Command pulse
Droop pulses
A
fter-switching gain
Before-switching gain
Gain switching