Mitsubishi HD-5000A Instruction Manual download pdf (Page 230)

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9. SPECIAL ADJUSTMENT FUNCTIONS

9.5.4 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

7 PG1 Position control gain 1 100 rad/s

36 VG1 Speed control gain 1 1000 rad/s

34 GD2

Ratio of load inertia moment to

servo motor inertia moment

40 0.1 times

35 PG2 Position control gain 2 120 rad/s

37 VG2 Speed control gain 2 3000 rad/s

38 VIC Speed integral compensation 20 ms

64 GD2B

Ratio of load inertia moment to

servo motor inertia moment 2

100 0.1 times

65 PG2B

Position control gain 2

changing ratio

70 %

66 VG2B

Speed control gain 2 changing

ratio

133 %

67 VICB

Speed integral compensation

changing ratio

250 %

68 CDP Gain changing selection

0001

(Changed by ON/OFF of

pin CN1A-8)

70 CDT Gain changing time constant 100 ms

(b) Changing operation

OFF

ON

OFF

Gain changing

(CDP)

Change of

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

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

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