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

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10. SPECIAL ADJUSTMENT FUNCTIONS
10.6.3 Parameters
When using the gain switching function, always set " 3" in parameter No.PA08 (auto tuning) to choose the
manual mode of the gain adjustment modes. The gain switching function cannot be used in the auto tuning
mode.
Parameter
No.
Abbreviation Name Unit Description
PB06 GD2
Ratio of load inertia moment to
servo motor inertia moment Multi-
plier
( 1)
Control parameters before changing.
PB07 PG1
Model loop gain
rad/s
Position and speed gains of a model used to set the response
level to a command. Always valid.
PB08 PG2 Position loop gain rad/s
PB09 VG2 Speed loop gain rad/s
PB10 VIC Speed integral compensation ms
PB29 GD2B
Gain switching - ratio of load
inertia moment to servo motor
inertia moment Multi-
plier
( 1)
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
PB30 PG2B Gain switching - position loop gain rad/s Used to set the value of the after-changing position loop gain.
PB31 VG2B Gain switching - speed loop gain rad/s Used to set the value of the after-changing speed loop gain.
PB32 VICB
Gain switching - speed integral
compensation
ms
Used to set the value of the after-changing speed integral
compensation.
PB26 CDP Gain switching selection Used to select the changing condition.
PB27 CDL
Gain switching condition kpps
pulse
r/min
Used to set the changing condition values.
PB28 CDT
Gain switching time constant
ms
You can set the filter time constant for a gain change at
changing.
PB33 VRF1B
Gain switching - vibration
suppression control vibration
frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control vibration frequency setting.
PB34 VRF2B
Gain switching - vibration
suppression control resonance
frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control resonance frequency setting.