Mitsubishi Electric MELSERVO J5 Series User Manual page 81

■When [Pr. PB65] is set to "0"
When [Pr. PB65] is set to "0", the gain does not switch to "Gain after gain switching 2". When the absolute value of the servo
motor speed exceeds the value of [Pr. PB27], the gain switches.
CDL
Servo motor
0 r/min
speed
-CDL
Gain before gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB06]
to motor mass ratio
Position control gain [Pr. PB08]
Speed control gain [Pr. PB09]
Speed integral compensation [Pr. PB10]
■When [Pr. PB65] < [Pr. PB27]
For the case of [Pr. PB65] < [Pr. PB27], the gain does not switch to "Gain after gain switching". When the absolute value of the
servo motor speed exceeds the value of [Pr. PB65], the gain switches to "Gain after gain switching 2". However, the gain does
not switch to "Gain after gain switching" even when the absolute value exceeds the value of [Pr. PB27].
CDL
CDL2
Servo motor
0 r/min
speed
-CDL2
-CDL
Gain before gain switching
Gain switching
Load to motor inertia ratio/load
[Pr. PB06]
to motor mass ratio
Position control gain [Pr. PB08]
Speed control gain [Pr. PB09]
Speed integral compensation [Pr. PB10]
Gain after gain switching
63.2 %
CDT
→ [Pr. PB29]
→ [Pr. PB30]
→ [Pr. PB31]
→ [Pr. PB32]
Gain after gain switching 2
63.2 %
CDT2
→ [Pr. PB67]
→
[Pr. PB68]
→ [Pr. PB69]
→ [Pr. PB70]
Gain after gain switching
Gain before gain switching
→ [Pr. PB06] → [Pr. PB29]
→ [Pr. PB08] → [Pr. PB30]
→ [Pr. PB09] → [Pr. PB31]
→ [Pr. PB10] → [Pr. PB32]
Gain after gain switching 2
Gain before gain switching
→ [Pr. PB06] → [Pr. PB67]
[Pr. PB68]
→ [Pr. PB08] →
→ [Pr. PB09] → [Pr. PB69]
→ [Pr. PB10] → [Pr. PB70]
5 GAIN SWITCHING FUNCTION
5.6 Examples of gain switching operation
5
→ [Pr. PB06]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
→ [Pr. PB06]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
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