Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

Page: 267 / 646

7 SPECIAL ADJUSTMENT FUNCTIONS
7.2 Gain switching function
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7
■
Switching timing chart
When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching cannot be used.
■ 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]
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Control command
from controller
OFF
ON
OFF
Model loop gain 100
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120
3000
20
120
3000
20
50
84
4000
50
20 20 30
20 20 30
50 50 60
50 50 60
0.20 0.20 0.15
0.20 0.20 0.15
0.10 0.10 0.05
0.10 0.10 0.05
100
4.00 10.00 4.00
Load to motor inertia ratio/load to
motor mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 -
Vibration frequency
Vibration suppression control 1 -
Resonance frequency
Vibration suppression control 1 -
Vibration frequency damping
Vibration suppression control 1 -
Resonance frequency damping
Vibration suppression control 2 -
Vibration frequency
Vibration suppression control 2 -
Resonance frequency
Vibration suppression control 2 -
Vibration frequency damping
Vibration suppression control 2 -
Resonance frequency damping