Gain Switching By Signals (Cdp/C_Cdp/Cdp2/C_Cdp2) - Mitsubishi Electric MELSERVO J5 Series User Manual

Gain switching by signals (CDP/C_CDP/CDP2/C_CDP2)

The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "1" (Signal (CDP/C_CDP)).
Gain switching by control commands from the controller [G] [WG]
The following shows the timing chart.
ON
C_CDP2
OFF
ON
C_CDP
OFF
Gain before gain switching
Gain switching
Load to motor inertia ratio/load to
motor mass ratio
Model control gain
Position control gain
Speed control gain
Speed integral compensation
Vibration suppression control 1 -
Vibration frequency
Vibration suppression control 1 -
Resonance frequency
Vibration suppression control 1 -
Vibration frequency/damping
coefficient
Vibration suppression control 1 -
Resonance frequency/damping
coefficient
Vibration suppression control 2 -
Vibration frequency
Vibration suppression control 2 -
Resonance frequency
Vibration suppression control 2 -
Vibration frequency/damping
coefficient
Vibration suppression control 2 -
Resonance frequency/damping
coefficient
5 GAIN SWITCHING FUNCTION
82
5.6 Examples of gain switching operation
Gain after gain switching 2
63.2 %
Gain after gain switching
CDT2
63.2 %
CDT
[Pr. PB06] → [Pr. PB29] → [Pr. PB67]
[Pr. PB07] → [Pr. PB60] → [Pr. PB79]
[Pr. PB08] → [Pr. PB30] → [Pr. PB68]
[Pr. PB09] → [Pr. PB31] → [Pr. PB69]
[Pr. PB10] → [Pr. PB32] → [Pr. PB70]
[Pr. PB19] → [Pr. PB33] → [Pr. PB71]
[Pr. PB20] → [Pr. PB34] → [Pr. PB72]
[Pr. PB21] → [Pr. PB35] → [Pr. PB73]
[Pr. PB22] → [Pr. PB36] → [Pr. PB74]
[Pr. PB52] → [Pr. PB56] → [Pr. PB75]
[Pr. PB53] → [Pr. PB57] → [Pr. PB76]
[Pr. PB54] → [Pr. PB58] → [Pr. PB77]
[Pr. PB55] → [Pr. PB59] → [Pr. PB78]
Gain before gain
switching
→ [Pr. PB29] → [Pr. PB06]
→ [Pr. PB60] → [Pr. PB07]
→ [Pr. PB30] → [Pr. PB08]
→ [Pr. PB31] → [Pr. PB09]
→ [Pr. PB32] → [Pr. PB10]
→ [Pr. PB33] → [Pr. PB19]
→ [Pr. PB34]
→ [Pr. PB20]
→ [Pr. PB35] → [Pr. PB21]
→ [Pr. PB36]
→ [Pr. PB22]
→ [Pr. PB56] → [Pr. PB52]
→ [Pr. PB57]
→ [Pr. PB53]
→ [Pr. PB58] → [Pr. PB54]
→ [Pr. PB59] → [Pr. PB55]
Gain after gain switching 2
63.2 %
→ [Pr. PB67]
→ [Pr. PB79]
→ [Pr. PB68]
→ [Pr. PB69]
→ [Pr. PB70]
→ [Pr. PB71]
[Pr. PB72]
→
→ [Pr. PB73]
[Pr. PB74]
→
→ [Pr. PB75]
[Pr. PB76]
→
→ [Pr. PB77]
→ [Pr. PB78]
→ [Pr. PB06]
→ [Pr. PB07]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
→ [Pr. PB19]
→ [Pr. PB20]
→ [Pr. PB21]
→ [Pr. PB22]
→ [Pr. PB52]
→ [Pr. PB53]
→ [Pr. PB54]
→ [Pr. PB55]