Mitsumi electronic MR-J3- A Manual De Usuario
8 - 14
8. SPECIAL ADJUSTMENT FUNCTIONS
8.6.4 Gain changing procedure
This operation will be described by way of setting examples.
(1) When you choose changing by input device (CDP)
(1) When you choose changing by input device (CDP)
(a) Setting
Parameter No. Abbreviation
Name
Setting
Unit
PB06 GD2
Ratio of load inertia moment to servo motor
inertia moment
inertia moment
4.0
Multiplier
( 1)
PB07
PG1
Model loop gain
100
rad/s
PB08
PG2
Position loop gain
120
rad/s
PB09
VG2
Speed loop gain
3000
rad/s
PB10
VIC
Speed integral compensation
20
ms
PB19 VRF1
Vibration suppression control vibration
frequency setting
frequency setting
50 Hz
PB20 VRF2
Vibration suppression control resonance
frequency setting
frequency setting
50 Hz
PB29 GD2B
Gain changing ratio of load inertia moment
to servo motor inertia moment
to servo motor inertia moment
10.0
Multiplier
( 1)
PB30
PG2B
Gain changing position loop gain
84
rad/s
PB31
VG2B
Gain changing speed loop gain
4000
rad/s
PB32
VICB
Gain changing speed integral compensation
50
ms
PB26
CDP
Gain changing selection
0001
(Changed by ON/OFF of Input device (CDP))
PB28
CDT
Gain changing time constant
100
ms
PB33 VRF1B
Gain changing vibration suppression control
vibration frequency setting
vibration frequency setting
60 Hz
PB34 VRF2B
Gain changing vibration suppression control
resonance frequency setting
resonance frequency setting
60 Hz
(b) Changing timing chart
ON
Gain changing
(CDP)
(CDP)
OFF
OFF
After-changing gain
Before-changing gain
Change of
each gain
each gain
CDT 100ms
63.4
Model loop gain
100
Ratio of load inertia moment
to servo motor 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
vibration frequency setting
50
60
50
Vibration suppression control
resonance frequency setting
resonance frequency setting
50
60
50