Mitsubishi Electric MELSERVO J5 Series User Manual page 87

When gain switching 2 during a stop is disabled
The timing chart of gain switching when the "Gain switching 2 during a stop" is disabled is shown as follows: In the velocity
mode, replace the command pulse frequency with the speed command.
CDL
Command pulse
0 kpulse/s
frequency
-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 gain switching 2 during a stop is enabled
The timing chart of gain switching when the "Gain switching 2 during a stop" is enabled is shown as follows:
ON
Servo-on
command
OFF
ON
INP
OFF
CDL
Command pulse
0 kpulse/s
frequency
-CDL
Gain after gain switching 2
Gain switching
CDT2
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]
→
→
→
→
63.2 %
63.2 %
Gain before gain switching
CDT2
→ [Pr. PB67] → [Pr. PB06]
→ [Pr. PB68] → [Pr. PB08]
→ [Pr. PB69] → [Pr. PB09]
→ [Pr. PB70] → [Pr. PB10]
Gain after gain switching
63.2 %
CDT
[Pr. PB29]
[Pr. PB30]
[Pr. PB31]
[Pr. PB32]
Gain after gain switching 2
63.2 %
Gain after gain switching
63.2 %
CDT2
CDT2
→ [Pr. PB67] → [Pr. PB29] →
→ [Pr. PB68] → [Pr. PB30] →
→ [Pr. PB69] → [Pr. PB31] →
→ [Pr. PB70] → [Pr. PB32] →
5 GAIN SWITCHING FUNCTION
5.6 Examples of gain switching operation
63.2 %
Gain before
gain switching
CDT
→ [Pr. PB06]
→ [Pr. PB08]
→ [Pr. PB09]
→ [Pr. PB10]
Gain before
gain switching
[Pr. PB06]
[Pr. PB08]
[Pr. PB09]
[Pr. PB10]
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