Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

Page: 355 / 802

10 - 14
10. SPECIAL ADJUSTMENT FUNCTIONS
10.6.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose changing by input device
(a) Setting
Parameter
No.
Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
PB06 GD2
Ratio of load inertia moment to servo motor
inertia moment
4.0
Multiplier
( 1)
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
Gain switching - ratio of load inertia moment
to servo motor inertia moment
10.0
Multiplier
( 1)
PB30 PG2B Gain switching - position loop gain 84 rad/s
PB31 VG2B Gain switching - speed loop gain 4000 rad/s
PB32 VICB Gain switching - speed integral compensation 50 ms
PB26 CDP Gain switching selection
0001
(Changed by ON/OFF of Input device)
PB28 CDT Gain switching time constant 100 ms
PB33 VRF1B
Gain switching - vibration suppression control
vibration frequency setting
Used to set the value of the after-changing
vibration suppression control vibration
frequency setting.
Hz
PB34 VRF2B
Gain switching - vibration suppression control
resonance frequency setting
Used to set the value of the after-changing
vibration suppression control resonance
frequency setting.
Hz
(b) Changing timing chart
OFF
ON
OFF
Gain changing
(RY(n+2))
Change of
each gain
Before-changing gain
After-changing gain
CDT 100ms
Model loop gain 1 100
Ratio of load inertia moment
to servo motor inertia moment
4.0 10.0 4.0
Position loop gain 120 84 120
Speed loop gain 3000 4000 3000
Speed integral compensation 20 50 20
Vibration suppression control -
vibration frequency setting
50 60 50
Vibration suppression control -
resonance frequency setting
50 60 50