Mitsubishi Electric MELSERVO-J4 series, Инструкция по эксплуатации

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7 SPECIAL ADJUSTMENT FUNCTIONS
7.2 Gain switching function
■
Switching timing chart
When the gain switching time constant is disabled
■
Time constant disabled at switching
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr. PB28 (CDT)] = 100 [ms].
■
Time constant disabled at returning
The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28 (CDT)] = 100 [ms].
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/load to
motor mass ratio
4.00 →
→
→
→
→
→
→
→
→
→
→
→
120
3000
20
4.00
120
3000
20
10.00
84
4000
50
10.00
84
4000
50
Position loop gain
Speed loop gain
Speed integral compensation
Command pulses
Droop pulses
+100 pulses
-100 pulses
0 Droop pulses [pulse]
Switching time constant
disabled
Switching at 0 ms
After-switching gain
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
CDT = 100 ms
63.4%
Switching at 0 ms
After-switching gain
Gain switching
ON CDP (Gain switching)
After-switching gain
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
CDT = 100 ms
Return time constant disabled
Switching at 0 ms
OFF OFF
63.4%
Gain switching