5. PARAMETERS
5 - 30
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 supported 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 at which the gains will change in response to
the conditions set in [Pr. PB26] and [Pr. PB27].
Setting range: 0 to 100
1
[ms]
Summary of Contents for MR-J4
Page 9: ...A 8 MEMO ...
Page 19: ...10 MEMO ...
Page 73: ...1 FUNCTIONS AND CONFIGURATION 1 54 MEMO ...
Page 155: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 199: ...4 STARTUP 4 44 MEMO ...
Page 289: ...6 NORMAL GAIN ADJUSTMENT 6 24 MEMO ...
Page 335: ...8 TROUBLESHOOTING 8 8 MEMO ...
Page 357: ...9 OUTLINE DRAWINGS 9 22 MEMO ...
Page 517: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 617: ...16 USING A DIRECT DRIVE MOTOR 16 20 MEMO ...
Page 641: ...17 FULLY CLOSED LOOP SYSTEM 17 24 MEMO ...
Page 725: ...18 MR J4 03A6 SERVO AMPLIFIER 18 84 MEMO ...
Page 763: ...APPENDIX App 38 ...
Page 789: ...MEMO ...
Page 793: ......