Mitsubishi Electric MR-J4, Instruction Manual

Page: 230 / 794

5. PARAMETERS
5 - 31
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control
mode
P S T
PB29
GD2B
Load to motor
inertia ratio/
load to motor
mass ratio
after gain
switching This is used to set the load to motor inertia ratio/load to motor mass ratio when gain
switching is enabled.
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.00 to 300.00 7.00
[Multiplier]
PB30
PG2B
Position loop
gain after
gain
switching Set the position loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.0 to 2000.0 0.0
[rad/s]
PB31
VG2B
Speed loop
gain after
gain
switching Set the speed loop gain when the gain switching is enabled.
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0 to 65535 0
[rad/s]
PB32
VICB
Speed
integral
compensation
after gain
switching Set the speed integral compensation when the gain changing is enabled.
When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.0 to 5000.0 0.0
[ms]
PB33
VRF1B
Vibration
suppression
control 1 -
Vibration
frequency
after gain
switching Set the vibration frequency for vibration suppression control 1 when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Setting range: 0.0 to 300.0
0.0
[Hz]
PB34
VRF2B
Vibration
suppression
control 1 -
Resonance
frequency
after gain
switching Set the resonance frequency for vibration suppression control 1 when the gain
switching is enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Setting range: 0.0 to 300.0
0.0
[Hz]
PB35
VRF3B
Vibration
suppression
control 1 -
Vibration
frequency
damping after
gain
switching Set a damping of the vibration frequency for vibration suppression control 1 when
the gain switching is enabled.
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Setting range: 0.00 to 0.30
0.00