Mitsubishi Electric MR-JE-_A, Instruction Manual

Page: 157 / 370

5. PARAMETERS
5 - 18
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control mode
P S T
PB03
PST
Position
command
acceleration/
deceleration
time constant
(position
smoothing)
Set the constant of a primary delay to the position command.
You can select a control method from "Primary delay" or "Linear
acceleration/deceleration" of "Position acceleration/deceleration filter type selection"
in [Pr. PB25]. The setting range of "Linear acceleration/deceleration" is 0 ms to 10
ms. Setting of longer than 10 ms will be recognized as 10 ms.
When the linear acceleration/deceleration is selected, do not set the "Control mode
selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the
servo motor to make a sudden stop at the time of position control mode switching.
(Example) When a command is given from a synchronizing encoder, synchronous
operation will start smoothly even if it start during line operation.
Synchronizing
encoder
Start
Servo motor
Servo amplifier
ON
OFF
With time
constant setting
Without time
constant setting
Servo motor
speed
Start
t
Setting range: 0 to 65535
0
[ms]
PB04
FFC
Feed forward
gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during operation at constant speed are
nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the
acceleration time constant up to the rated speed.
Setting range: 0 to 100
0
[%]
PB06
GD2
Load to motor
inertia ratio
Set the load to motor inertia ratio.
Setting a value considerably different from the actual load moment of inertia may
cause an unexpected operation such as an overshoot.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details. When
the parameter is automatic setting, the value will vary between 0.00 and 100.00.
Setting range: 0.00 to 300.00
7.00
[Multiplier]
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)
Automatic setting
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2) Manual setting
_ _ _ 3: (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)