Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

Page: 261 / 802

6 - 20
6. PARAMETERS
No. Symbol Name and function Initial value Unit
Setting
range
PB25 For manufacturer setting
Do not change this value by any means. 0000h
PB26 *CDP Gain switching selection
Select the gain switching condition. (Refer to section 10.6.)
0 0
Gain switching selection
The gain is changed depending on the setting
value of parameter No.PB29 to PB34 with
the following conditions.
0: Invalid
1: Gain switching (RY(n+2)8)
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain switching condition
0: Valid at more than condition (Valid when gain
changing (RY(n+2)8) is ON)
1: Valid at less than condition (Valid when gain
changing (RY(n+2)8) is OFF)
0000h Refer to
name and
function
column.
PB27 CDL Gain switching condition
Used to set the value of gain switching condition (command frequency, droop
pulses, servo motor speed) selected in parameter No.PB26. The set value unit
changes with the switching condition item. (Refer to section 10.6.)
10 kpps
pulse
r/min
0
to
9999
PB28 CDT Gain switching time constant
Used to set the time constant at which the gains will switch in response to the
conditions set in parameters No.PB26 and PB27. (Refer to section 10.6.) 1 ms 0
to
100
PB29 GD2B Gain switching ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of load inertia moment to servo motor inertia moment when
gain switching is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
7.0 Multiplier
( 1)
0
to
300.0
PB30 PG2B Gain switching position loop gain
Set the position loop gain when the gain switching is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
37 rad/s 1
to
2000
PB31 VG2B Gain switching speed loop gain
Set the speed loop gain when the gain switching is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
823 rad/s 20
to
50000
PB32 VICB Gain switching speed integral compensation
Set the speed integral compensation when the gain switching is valid.
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
33.7 ms 0.1
to
5000.0