Mitsubishi Electric MELSERVO MR-J3 A Series, Instruction Manual

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8. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No. PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed
integral compensation to be changed.
(2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No. PB29)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment
ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia
moment (parameter No. PB06).
(3) Gain changing position loop gain (parameter No. PB30), Gain changing speed loop gain (parameter No.
PB31), Gain changing speed integral compensation (parameter No. PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.
(4) Gain changing selection (parameter No. PB26)
Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the gain changing (CDP) external input signal for gain
changing. The gain changing (CDP) can be assigned to the pins using parameters No. PB13 to PB16,
PB18.
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No. PB29 to
PB32 settings.
0: Invalid
1: Gain changing (CDP) is ON
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain changing condition
0: Valid at more than condition (Valid when gain changing (CDP) is ON)
1: Valid at less than condition (Valid when gain changing (CDP) is OFF)
0 0
Parameter No. PB26
(5) Gain changing condition (parameter No. PB27)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No. PB26), set the gain changing level.
The setting unit is as follows:
Gain changing condition Unit
Command frequency kpps
Droop pulses pulse
Servo motor speed r/min
(6) Gain changing time constant (parameter No. PB28)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.