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Mitsubishi Electronics MR-J2S- B User Manual

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7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(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
40
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
100
0.1 times
53
PG2B
Position control gain 2
changing ratio
70
%
54
VG2B
Speed control gain 2 changing
ratio
133
%
55
VICB
Speed integral compensation
changing ratio
250
%
49
CDP
Gain changing selection
0003
(Changed by droop pulses)
50
CDS
Gain changing condition
50
pulse
51
CDT
Gain changing time constant
100
ms
(b) Changing operation
CDT  100ms
0
Droop pulses [pulses]
Change of each gain
CDS
CDS
Before-changing gain
After-changing gain
Command pulse
Droop pulses
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0
4.0
10.0
Position control gain 2
120
84
120
84
Speed control gain 2
3000
4000
3000
4000
Speed integral compensation
20
50
20
50