7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 19
(2) Switchable gain parameter
Loop gain
Before switching
After switching
Parameter Symbol
Name
Parameter Symbol
Name
Load to motor inertia ratio/
load to motor mass ratio
PB06
GD2
Load to motor inertia ratio/
load to motor mass ratio
PB29
GD2B
Load to motor inertia ratio/
load to motor mass ratio
Model loop gain
PB07
PG1
Model loop gain
PB60
PG1B
Model loop gain after gain
switching
Position loop gain
PB08
PG2
Position loop gain
PB30
PG2B
Position loop gain after
gain switching
Speed loop gain
PB09
VG2
Speed loop gain
PB31
VG2B
Speed loop gain after gain
switching
Speed integral
compensation
PB10 VIC
Speed
integral
compensation
PB32 VICB
Speed
integral
compensation after gain
switching
Vibration suppression
control 1 - Vibration
frequency
PB19 VRF11
Vibration
suppression
control 1 - Vibration
frequency
PB33 VRF1B
Vibration
suppression
control 1 - Vibration
frequency after gain
switching
Vibration suppression
control 1 - Resonance
frequency
PB20 VRF12
Vibration
suppression
control 1 - Resonance
frequency
PB34 VRF2B
Vibration
suppression
control 1 - Resonance
frequency after gain
switching
Vibration suppression
control 1 - Vibration
frequency damping
PB21 VRF13
Vibration
suppression
control 1 - Vibration
frequency damping
PB35 VRF3B
Vibration
suppression
control 1 - Vibration
frequency damping after
gain switching
Vibration suppression
control 1 - Resonance
frequency damping
PB22 VRF14
Vibration
suppression
control 1 - Resonance
frequency damping
PB36 VRF4B
Vibration
suppression
control 1 - Resonance
frequency damping after
gain switching
Vibration suppression
control 2 - Vibration
frequency
PB52 VRF21
Vibration
suppression
control 2 - Vibration
frequency
PB56 VRF21B
Vibration
suppression
control 2 - Vibration
frequency after gain
switching
Vibration suppression
control 2 - Resonance
frequency
PB53 VRF22
Vibration
suppression
control 2 - Resonance
frequency
PB57 VRF22B
Vibration
suppression
control 2 - Resonance
frequency after gain
switching
Vibration suppression
control 2 - Vibration
frequency damping
PB54 VRF23
Vibration
suppression
control 2 - Vibration
frequency damping
PB58 VRF23B
Vibration
suppression
control 2 - Vibration
frequency damping after
gain switching
Vibration suppression
control 2 - Resonance
frequency damping
PB55 VRF24
Vibration
suppression
control 2 - Resonance
frequency damping
PB59 VRF24B
Vibration
suppression
control 2 - Resonance
frequency damping after
gain switching
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral
compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...