Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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5 PARAMETERS
5.2 Detailed list of parameters
193
5
PB07
PG1
Model loop gain

Set the response gain to the target position.
Increasing the setting value will also increase the response level to the position command but will be liable to
generate vibration and noise. When the vibration suppression control is used, the setting range of [Pr. PB07]
is limited. Refer to the following for details.

Page 256 Vibration suppression control manual mode
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
following table for details.
Setting range: 1.0 to 2000.0
15.0
[rad/s]
PB08
PG2
Position loop gain

Set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load disturbance but will be liable to
generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
following table for details.
Setting range: 1.0 to 2000.0 37.0
[rad/s]
PB09
VG2
Speed loop gain

Set the gain of the speed loop.
Set this parameter when vibration occurs on machines of low rigidity or with large backlash. Increasing the
setting value will also increase the response level but will be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
table of [Pr. PB08] for details.
Setting range: 20 to 65535 823 [rad/s]
PB10
VIC
Speed integral
compensation

Set the integral time constant of the speed loop.
Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0 33.7 [ms]
PB11
VDC
Speed differential
compensation  Set the differential compensation.
To enable the parameter at all times, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching
control selection" in [Pr. PB24].
To enable it, turn on PC (Proportional control) or PID switching signal from controller.
Setting range: 0 to 1000 980
PB12
OVA
Overshoot amount
compensation

Set a viscous friction torque in percentage to the rated torque at servo motor rated speed. Or, set a
percentage of viscous friction force against the continuous thrust at linear servo motor rated speed.
When the response level is low or when the torque/thrust is limited, the efficiency of the parameter may be
lower.
Setting range: 0 to 100 0 [%]
PB13
NH1
Machine resonance
suppression filter 1

Set the notch frequency of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
adjusted automatically by adaptive tuning.
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.
Setting range: 10 to 4500 4500 [Hz]
No./symbol/
name Setting
digit Function Initial
value
[unit]
Pr. PA08 This parameter
Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
Manual setting
Automatic setting
Pr. PA08 This parameter
Automatic setting
Automatic setting
Manual setting
_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)