Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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5 PARAMETERS
5.2 Detailed list of parameters
Extension setting parameters ([Pr. PC_ _ ])
PB59
VRF24B
Vibration
suppression control
2 - Resonance
frequency damping
after gain switching

Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is
enabled.
This parameter will be enabled only when the following conditions are fulfilled.
• "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
• "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr. PA24].
• "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_ _ 2 _)" in [Pr. PB02].
• "Gain switching selection" is set to "Switching is enabled by control command from controller and Input
device CDP (Gain switching) (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo motor stops.
Setting range: 0.00 to 0.30
0.00
PB60
PG1B
Model loop gain
after gain switching  Set the model loop gain for when the gain switching is enabled.
When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. PB07].
This parameter will be enabled only when the following conditions are fulfilled.
• "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
• "Gain switching selection" is set to "Switching is enabled by control command from controller and Input
device CDP (Gain switching) (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo motor stops.
Setting range: 0.0 to 2000.0
0.0 [rad/s]
No./symbol/
name Setting
digit Function Initial
value
[unit]
PC01
ERZ
Error excessive
alarm level  Set an error excessive alarm level.
The setting unit can be changed with "Error excessive alarm/error excessive warning level unit selection" in
[Pr. PC06].
Set this per rev. for rotary servo motors and direct drive motors. When "0" is set, 3 rev will be applied. Setting
over 200 rev will be clamped to 200 rev. Set this per mm for linear servo motors. Setting "0" will be 100 mm.
Setting range: 0 to 1000 0 [rev]/[mm]
PC02
MBR
Electromagnetic
brake sequence
output

Set the delay time from when MBR (Electromagnetic brake interlock) turns off till when the base drive circuit
is shut-off.
For the timing chart of when the servo motor with an electromagnetic brake is used, refer to the following.

Page 120 Timing chart
Setting range: 0 to 1000
0 [ms]
No./symbol/
name Setting
digit Function Initial
value
[unit]