Mitsubishi Electric MELSERVO-JN Series - Page 217

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7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When gain changing by droop pulses is selected:
In this case, gain changing vibration suppression control cannot be used.
(a) Setting
Parameter No. Abbreviation Name Setting Unit
PB06 GD2 Load to motor inertia moment ratio 4.0
Multiplier
(
1)
PB07 PG1 Model loop gain 100 rad/s
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 2 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
PB29 GD2B
Gain changing load to motor inertia moment
ratio
10.0
Multiplier
(
1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
PB26 CDP Gain changing
003
(Changed by droop pulses)
PB27 CDL Gain changing condition 50 pulse
PB28 CDT Gain changing time constant 100 ms
(b) Timing chart at changing
After-changing gain
Before-changing gain
Change of each gain
CDT = 100ms
63.4%
Droop pulses [pulses] 0
Command pulse
Droop pulses
CDL
CDL
Model loop gain 100
Load to motor inertia moment
ratio
4.0
10.0 4.0 10.0
Position loop gain 120 84 120 84
Speed loop gain 3000 4000 3000 4000
Speed integral compensation 20 50 20 50