7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 22
(b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Droop pulses
[pulse]
+CDL
-CDL
0
Command pulses
Droop pulses
Command pulses
Load to motor inertia ratio 4.00 → 10.00 → 4.00 → 10.00
Position loop gain 120 → 84 → 120 → 84
Speed loop gain 3000 → 4000 → 3000 → 4000
Speed integral compensation 20 → 50 → 20 → 50
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