Mitsubishi Electric MR-JE-_A, Instruction Manual

Page: 162 / 370

5. PARAMETERS
5 - 23
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control mode
P S T
PB25
*BOP1
Function
selection B-1
_ _ _ x Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
This parameter setting is available with servo amplifiers 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
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 setting is available with servo amplifiers with software version B4 or
later.
0h
x _ _ _ For manufacturing setting 0h
PB27
CDL
Gain
switching
condition
Set the value of gain switching (command frequency, droop pulses, and servo motor
speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
section 7.2.3.)
Setting range: 0 to 9999
10
[kpulse/
s]
/[pulse]
/[r/min]
PB28
CDT
Gain
switching
time constant
Set the time constant until the gains switch in response to the conditions set in [Pr.
PB26] and [Pr. PB27].
Setting range: 0 to 100
1
[ms]
PB29
GD2B
Load to motor
inertia ratio
after gain
switching
Set the load to motor inertia ratio for when gain switching is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Setting range: 0.00 to 300.00
7.00
[Multipli
er]
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 you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Setting range: 0.0 to 2000.0
0.0
[rad/s]