Mitsubishi Electric MR-J4-100A(-RJ), Instruction Manual

Page: 236 / 908

5. PARAMETERS
5 - 33
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control
mode
P S T
PB24
*MVS
Slight
vibration
suppression
control _ _ _ x Slight vibration suppression control selection
Select the slight vibration suppression control.
0: Disabled
1: Enabled
To enable the slight vibration suppression control, set "Gain adjustment mode
selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control cannot be used in the speed control mode.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PB25
*BOP1
Function
selection B-1 _ _ _ x Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
This parameter is available with servo amplifiers with software version B4 or later.
0h
_ _ x _ Position acceleration/deceleration filter type selection
Select the position acceleration/deceleration filter type.
0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control mode.
Doing so will cause the servo motor to make a sudden stop at the time of control
mode switching.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PB26
*CDP
Gain
switching
function Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
_ _ _ x Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
0h
_ _ x _ Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
0h
_ x _ _ Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
This parameter is used by servo amplifier with software version B4 or later.
0h
x _ _ _ For manufacturer setting 0h
PB27
CDL
Gain
switching
condition This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed/linear servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 9999 10
[kpulse/s]
/[pulse]
/[r/min]
PB28
CDT
Gain
switching
time constant This is used to set the time constant until the gains switch in response to the
conditions set in [Pr. PB26] and [Pr. PB27].
Setting range: 0 to 100 1
[ms]