Mitsubishi Electric MELSERVO-JN Series, Instruction Manual

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4. PARAMETERS
No. Symbol Name and function
Initial
value Setting
range
Unit
Control mode
Position
Internal
speed
Internal
torque
PB06 GD2 Load to motor inertia moment ratio
Used to set the load to motor inertia moment ratio.
Setting a value that is considerably different from the actual load
moment of inertia may cause an unexpected operation such as an
overshoot.
When auto tuning mode 1 and 2-gain adjustment mode are selected,
this parameter is automatically set. (Refer to section 6.2.) In this
case, it varies between 0.0 and 100.0.
7.0 0.0
to
300.0
Multiplier
PB07 PG1 Model loop gain
Set the response gain up to the target position.
As the gain is increased, the trackability in response to the command
is improved.
When executing the one-touch tuning, the result of the one-touch
tuning is automatically set in this parameter.
When auto turning mode 1 is selected, the result of auto turning is
automatically set in this parameter.
24 1
to
2000
rad/s
PB08 PG2 Position loop gain
Used to set the gain of the position loop.
Set this parameter to increase the position response level to load
disturbance. Higher setting increases the response level but is liable
to generate vibration and/or noise.
When auto tuning mode 1 and 2-gain adjustment mode are set, the
result of auto tuning is automatically set in this parameter.
37 1
to
1000
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 large backlash.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 and 2-gain adjustment mode are set, the
result of auto tuning is automatically set in this parameter.
823 20
to
50000
rad/s
PB10 VIC Speed integral compensation
Used to set the integral time constant of the speed loop.
Lower setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 and 2-gain adjustment mode are set, the
result of auto tuning is automatically set in this parameter.
33.7 0.1
to
1000.0
ms
PB11 VDC Speed differential compensation [Applied]
Used to set the differential compensation.
The set value is made valid when the proportion control (PC) is
switched on.
980 0
to
1000
PB12 OVA Overshoot amount compensation [Applied]
Set the suppression ratio of the overshoot suppression control.
Set the suppression ratio for the friction torque in %.
Executing one-touch tuning automatically changes this parameter.
0 0
to
100
%
POINT
This parameter can reduce the overshoot caused
by a device having large friction.