Mitsubishi Electric MR-J5-B, User Manual

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1 SERVO PARAMETER DETAILS
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
[Pr. PB02_Vibration suppression control tuning mode (advanced
vibration suppression control II) (VRFT)]
[Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection]
Select the tuning mode of the vibration suppression control 1.
0: Disabled
1: Automatic setting
2: Manual setting
[Pr. PB02.1_Vibration suppression control 2 - Tuning mode selection]
Select the tuning mode of the vibration suppression control 2. To enable the setting value, set [Pr. PA24.0 Vibration
suppression mode selection] to "1" (3 inertia mode).
0: Disabled
1: Automatic setting
2: Manual setting
[Pr. PB03_Torque feedback loop gain (TFBGN)]
Set the torque feedback gain.
This function is enabled in the continuous operation to torque control mode.
Decreasing the setting value of this servo parameter reduces the collision load during pressing.
6 rad/s is set when the setting value is 6 rad/s or less.
[Pr. PB04_Feed forward gain (FFC)]
Set the feed forward gain.
When "100" is set, the droop pulses are almost 0 in operation at the constant speed. If the super trace control is enabled, the
droop pulses are almost 0 in operation at uniform acceleration/deceleration, as well as at the constant speed. However, if
sudden acceleration/deceleration is performed, overshoot becomes large. When the feed forward gain is set to 100 %, set a
value not smaller than 1 s for the acceleration time constant until the rated speed is reached.
Initial value Setting range Setting method Ver.
00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver.
0h Refer to the text C4
Initial value Setting range Ver.
0h Refer to the text C4
Initial value Setting range Setting method Ver.
36000 [rad/s] 0 to 36000 Each axis C4
Initial value Setting range Setting method Ver.
0 [%] 0 to 100 Each axis C4