Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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7 SPECIAL ADJUSTMENT FUNCTIONS
7.2 Gain switching function
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Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr.
PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Parameter for setting gain switching condition
■
[Pr. PB26 Gain switching function]
Used to set the gain switching condition. Select the switching condition in the first to third digits.
■ [Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or "Servo motor speed" with
the gain switching selection in [Pr. PB26 Gain switching function].
The setting unit is as follows.
■ [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. This parameter is used to suppress shock given to the
machine if the gain difference is large at gain switching, for example.
Parameter Symbol Name Unit Description
PB26 CDP Gain switching function

Used to select the changing condition.
PB27 CDL Gain switching condition [kpulse/s]/[pulse]/[r/min] Used to set the changing condition values.
PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at
changing.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]/[mm/s]
Gain switching selection
0: Disabled
1: Switching is enabled by control command from controller
and Input device CDP (Gain switching)
2: Command frequency
3: Droop pulses
4: Servo motor speed
0
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
[Pr. PB26]
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled