Mitsubishi Electric MELSERVO-JN Series, Instruction Manual

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4 - 27
4. PARAMETERS
No. Symbol Name and function
Initial
value Setting
range
Unit
Control mode
Position
Internal
speed
Internal
torque
PB26 *CDP Gain changing [Applied]
Select the gain changing condition. (Refer to section 7.3.)
Gain changing selection
Under any of the following conditions, the gains
change on the basis of parameter No. PB29 to
PB34 settings.
0: Invalid
1: Input device (gain changing (CDP))
2: Command frequency (parameter No.PB27 setting)
3: Droop pulse (parameter No.PB27 setting)
4: Servo motor speed (parameter No.PB27 setting)
0
Gain changing condition
0: Valid when the input device (gain changing (CDP)) is
ON, or valid when the value is equal to or larger than
the value set in parameter No. PB27.
1: Valid when the input device (gain changing (CDP)) is
OFF, or valid when the value is equal to or smaller
than the value set in parameter No. PB27.
000h Refer to
name
and
function
column.
PB27 CDL Gain changing condition [Applied]
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in parameter
No. PB26. The set value unit varies depending on the changing
condition item. (Refer to section 7.3.)
10 0
to
9999
kpps
pulse
r/min
PB28 CDT Gain changing time constant [Applied]
Used to set the time constant at which the gains change in response
to the conditions set in parameters No. PB26 and PB27. (Refer to
section 7.3.)
1
0
to
100
ms
PB29 GD2B Gain changing load to motor inertia moment ratio [Applied]
Used to set the load to motor inertia moment ratio when gain
changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08: 3).
7.0 0.0
to
300.0
Multiplier
PB30 PG2B Gain changing position loop gain [Applied]
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08: 3).
37 1
to
2000
rad/s
PB31 VG2B Gain changing speed loop gain [Applied]
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08: 3).
823 20
to
50000
rad/s
PB32 VICB Gain changing speed integral compensation [Applied]
Set the speed integral compensation when the gain changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08: 3).
33.7 0.1
to
5000.0
ms
PB33 VRF1B Gain changing vibration suppression control vibration frequency
setting [Applied]
Set the vibration frequency for vibration suppression control when the
gain changing is valid. This parameter is made valid when parameter
No. PB02 is set to " 2" and parameter No. PB26 is set to " 1".
When using the vibration suppression control gain changing, always
execute the changing after the servo motor has stopped.
100.0 0.1
to
100.0
Hz