Mitsubishi Electronics MR-J2S- B User Manual
7 - 8
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No.
Abbreviation
Name
Setting
Unit
13
PG1
Position control gain 1
100
rad/s
14
VG1
Speed control gain 1
1000
rad/s
12
GD2
Ratio of load inertia moment to
servo motor inertia moment
servo motor inertia moment
4
0.1 times
15
PG2
Position control gain 2
120
rad/s
16
VG2
Speed control gain 2
3000
rad/s
17
VIC
Speed integral compensation
20
ms
52
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
servo motor inertia moment 2
100
0.1 times
53
PG2B
Position control gain 2
changing ratio
changing ratio
70
%
54
VG2B
Speed control gain 2 changing
ratio
ratio
133
%
55
VICB
Speed integral compensation
changing ratio
changing ratio
250
%
49
CDP
Gain changing selection
0001
Control command from
controller
51
CDT
Gain changing time constant
100
ms
(b) Changing operation
OFF
ON
OFF
Control command
from controller
(CDP)
from controller
(CDP)
Change of
each gain
each gain
Before-changing gain
After-changing gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
to servo motor inertia moment
4.0
10.0
4.0
Position control gain 2
120
84
120
Speed control gain 2
3000
4000
3000
Speed integral compensation
20
50
20