Mitsubishi Electric MELSERVO-JE MR-JE-100A, Инструкция по эксплуатации, Страница: 214 / 310

7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 19
(2) When you choose switching by droop pulses
In this case, the vibration suppression control after gain switching and model loop gain after gain
switching cannot be used.
(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia 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 after
gain switching 10.00 [Multiplier]
PB30 PG2B Gain switching position loop gain 84 [rad/s]
PB31 VG2B Gain switching speed loop gain 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]
(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 ĺ 10.00 ĺ 4.00 ĺ 10.00
Position loop gain 120 ĺ 84 ĺ 120 ĺ 84
Speed loop gain 3000 ĺ 4000 ĺ 3000 ĺ 4000
Speed integral compensation 20 ĺ 50 ĺ 20 ĺ 50