Mitsubishi Electric MELSERVO-JE MR-JE-100A, Instruction Manual

Page: 212 / 310

7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 17
(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr.
PB59])/[Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and model loop gain are used only with input device
(CDP) on/off.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by input device (CDP)
(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio 4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 -
Vibration frequency
50 [Hz]
PB20 VRF12 Vibration suppression control 1 -
Resonance frequency
50 [Hz]
PB21 VRF13 Vibration suppression control 1 -
Vibration frequency damping
0.20
PB22 VRF14 Vibration suppression control 1 -
Resonance frequency damping
0.20
PB52 VRF21 Vibration suppression control 2 -
Vibration frequency
20 [Hz]
PB53 VRF22 Vibration suppression control 2 -
Resonance frequency
20 [Hz]
PB54 VRF23 Vibration suppression control 2 -
Vibration frequency damping
0.10
PB55 VRF24 Vibration suppression control 2 -
Resonance frequency damping
0.10
PB29 GD2B Gain switching
Load to motor inertia ratio 10.00 [Multiplier]
PB60 PG1B Model loop gain after gain
switching 50 [rad/s]
PB30 PG2B Gain switching position loop gain 84 [rad/s]
PB31 VG2B Gain switching speed loop gain 4000 [rad/s]
PB32 VICB Speed integral compensation after
gain switching 50 [ms]
PB26 CDP Gain switching function 0001
(Switch by input device
(CDP) on/off.)