Mitsubishi Electric MR-J4W2, Instruction Manual

Page: 124 / 542

5. PARAMETERS
5 - 29
No. Symbol Name and function
Initial
value
[unit]
Setting
range
Each/
Common
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]. Refer to Name
and function
column. Each
Setting
digit
Explanation
Initial
value
_ _ _ x Gain switching selection
0: Disabled
1: Control command from controller is enabled
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
Set a 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. 10
[kpulse/s]
/[pulse]
/[r/min]
0 to
65535
Each
PB28 CDT Gain switching time constant
Set a time constant at which the gains will change in response to the conditions set in
[Pr. PB26] and [Pr. PB27]. 1
[ms]
0 to
100 Each
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching
Set a load to motor inertia ratio/load to motor mass ratio when gain switching is
enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08]. 7.00
[Multiplier]
0.00 to
300.00 Each