7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 22
(b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
CDP (gain switching)
OFF
ON
OFF
Model loop gain
100
→
50
→
100
Load to motor inertia ratio/load to motor
mass ratio
4.00
→
10.00
→
4.00
Position loop gain
120
→
84
→
120
Speed loop gain
3000
→
4000
→
3000
Speed integral compensation
20
→
50
→
20
Vibration suppression control 1 - Vibration
frequency
50
→
60
→
50
Vibration suppression control 1 -
Resonance frequency
50
→
60
→
50
Vibration suppression control 1 - Vibration
frequency damping
0.20
→
0.15
→
0.20
Vibration suppression control 1 -
Resonance frequency damping
0.20
→
0.15
→
0.20
Vibration suppression control 2 - Vibration
frequency
20
→
30
→
20
Vibration suppression control 2 -
Resonance frequency
20
→
30
→
20
Vibration suppression control 2 - Vibration
frequency damping
0.10
→
0.05
→
0.10
Vibration suppression control 2 -
Resonance frequency damping
0.10
→
0.05
→
0.10
(2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching cannot
be used.
(a) Setting example
Parameter Symbol
Name
Setting
value
Unit
PB06
GD2
Load to motor inertia ratio/load to
motor mass ratio
4.00 [Multiplier]
PB08
PG2
Position loop gain
120
[rad/s]
PB09
VG2
Speed loop gain
3000
[rad/s]
PB10
VIC
Speed integral compensation
20
[ms]
PB29
GD2B
Load to motor inertia ratio/load to
motor mass ratio after gain
switching
10.00 [Multiplier]
PB30
PG2B
Position loop gain after gain
switching
84 [rad/s]
PB31
VG2B
Speed loop gain after gain
switching
4000 [rad/s]
PB32
VICB
Speed integral compensation after
gain switching
50 [ms]
PB26
CDP
Gain switching selection
0003
(switching by droop pulses)
PB27
CDL
Gain switching condition
50
[pulse]
PB28
CDT
Gain switching time constant
100
[ms]
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...