Gain Switching By Command Directions - Mitsubishi Electric MELSERVO J5 Series User Manual

Gain switching by command directions

The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "5" (command direction) and [Pr.
PB26.4 Gain switching 2 selection] is set to "2" (the same condition as [Pr. PB26.0]).
The gain switches depending on the command direction of a command pulse frequency and a speed command. A positive
direction for the command direction is CCW regardless of the setting in [Pr. PA14 Travel direction selection].
When switching the gain by the command direction, the operation condition varies depending on whether "Gain switching
during a stop" is enabled or disabled. However, "Gain switching during a stop" is enabled only in the position mode. Refer to
the following table for details.
• In the position mode
[Pr. PB26.5 Gain switching
selection during a stop]
0
1
*1 If the mode is switched to the velocity mode when "0 and INP is turned on", the "Gain after gain switching 2" is retained even after
switching the mode.
• In velocity mode
[Pr. PB26.5 Gain switching
selection during a stop]
0
1
*2 If the mode is switched to the position mode, the gain changes to the "Gain after gain switching 2".
5 GAIN SWITCHING FUNCTION
84
5.6 Examples of gain switching operation
Command pulse frequency
Forward rotation 0 and INP is turned off
(CCW) or positive
direction
Before gain switching The current gain value is
retained
Before gain switching The current gain value is
retained
Speed command
Forward rotation 0, and ZSP is turned
(CCW) or positive off
direction
Before gain switching The current gain value is
retained
Before gain switching The current gain value is
retained
0 and INP is turned on Reverse rotation (CW)
or negative direction
The current gain value is After gain switching
retained
*1
After gain switching 2 After gain switching
0, and ZSP is turned Reverse rotation (CW)
on or negative direction
The current gain value is After gain switching
retained
The current gain value is After gain switching
*2
retained