Справочник Пользователя для Mitsubishi Electronics MR-J3
10 - 14
10. SPECIAL ADJUSTMENT FUNCTIONS
10.6.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by input device
(1) When you choose changing by input device
(a) Setting
Parameter
No.
Abbreviation Name
Setting Unit
PB07
PG1
Model loop gain
100
rad/s
PB06 GD2
Ratio of load inertia moment to servo motor
inertia moment
inertia moment
4.0
Multiplier
( 1)
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
Gain changing ratio of load inertia moment to
servo motor inertia moment
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)
PB28
CDT
Gain changing time constant
100
ms
PB33 VRF1B
Gain changing vibration suppression control
vibration frequency setting
vibration frequency setting
Used to set the value of the after-changing
vibration suppression control vibration
frequency setting.
vibration suppression control vibration
frequency setting.
Hz
PB34 VRF2B
Gain changing vibration suppression control
resonance frequency setting
resonance frequency setting
Used to set the value of the after-changing
vibration suppression control resonance
frequency setting.
vibration suppression control resonance
frequency setting.
Hz
(b) Changing operation
OFF
ON
OFF
Gain changing
(RY(n+2))
(RY(n+2))
Change of
each gain
each gain
Before-changing gain
After-changing gain
CDT 100ms
Model loop gain 1
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