Gain Switching By Servo Motor Speed And Gain Switching 2 (C_Cdp2) [G] [Wg] - Mitsubishi Electric MELSERVO J5 Series User Manual

Gain switching by servo motor speed and gain switching 2
(C_CDP2) [G] [WG]
The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "4" (servo motor speed) and [Pr.
PB26.4 Gain switching 2 selection] is set to "1" (signal (CDP2/C_CDP2)).
In this case, the setting of [Pr. PB65 Gain switching 2 condition] is disabled, and "Gain switching 2" can be enabled/disabled
with the Bit 4 (C_CDP2) of [Control DI 5 (Obj. 2D05h)] or by the input device CDP2 (Gain switching 2). In addition, with the Bit
4 (C_CDP2) of [Control DI 5 (Obj. 2D05h)] or by turning on the input device CDP2 (Gain switching 2), gain switching 2
vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain switching 2 - Model control
gain] are used.
ON
C_CDP2
OFF
CDL
Servo motor
0 r/min
speed
-CDL
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
86
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. PB67]
[Pr. PB07] → → [Pr. PB79]
[Pr. PB08] → [Pr. PB30] → [Pr. PB68]
[Pr. PB09] → [Pr. PB31] → [Pr. PB69]
[Pr. PB10] → [Pr. PB32] → [Pr. PB70]
[Pr. PB19] → → [Pr. PB71]
[Pr. PB20] → → [Pr. PB72]
[Pr. PB21] → → [Pr. PB73]
[Pr. PB22] → → [Pr. PB74]
[Pr. PB52] → → [Pr. PB75]
[Pr. PB53] → → [Pr. PB76]
[Pr. PB54] → → [Pr. PB77]
[Pr. PB55] → → [Pr. PB78]
Gain before gain
switching
→ [Pr. PB06] →
→ [Pr. PB07] →
→ [Pr. PB30]
→ [Pr. PB08] →
→ [Pr. PB31] → [Pr. PB09] →
→ [Pr. PB32] → [Pr. PB10] →
→ [Pr. PB19] →
→ [Pr. PB20] →
→ [Pr. PB21] →
→ [Pr. PB22] →
→ [Pr. PB52] →
→ [Pr. PB53] →
→ [Pr. PB54] →
→ [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]