Справочник Пользователя для Mitsubishi Electronics MR-J3
10 - 15
10. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(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
0003
(Changed by droop pulses)
PB27
CDS
Gain changing condition
50
pulse
PB28
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
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
10.0
Position loop gain
120
84 120
84
Speed loop gain
3000
4000 3000
4000
Speed integral compensation
20
50 20
50