Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 337 / 610

7. PARAMETERS
7 - 32
No./
symbol/name
Setting
digit
Function
Initial
value
[unit]
Control mode
CP/BCD
CL
PS
PB07
PG1
Model loop
gain Set the response gain up to the target position.
Increasing the setting value will also increase the response level to the position
command but will be liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the following table for details.
Setting range: 1.0 to 2000.0 15.0
[rad/s]
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Manual setting
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)
PB08
PG2
Position loop
gain This is used to set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load
disturbance but will be liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the following table for details.
Setting range: 1.0 to 2000.0 37.0
[rad/s]
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting
PB09
VG2
Speed loop
gain This is used to set the gain of the speed loop.
Set this parameter when vibration occurs on machines of low rigidity or large
backlash. Increasing the setting value will also increase the response level but will be
liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535 823
[rad/s]
PB10
VIC
Speed
integral
compensation Set the integral time constant of the speed loop.
Decreasing the setting value will increase the response level but will be liable to
generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0 33.7
[ms]
PB11
VDC
Speed
differential
compensation Set the differential compensation.
To enable the setting value, turn on PC (proportional control).
Setting range: 0 to 1000 980
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