Mitsubishi Electric MR-JE-_A, Instruction Manual

Page: 237 / 370

7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 16
7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Parameter for setting gain switching condition
Parameter Symbol Name Unit Description
PB26 CDP Gain switching function Select the changing condition.
PB27 CDL Gain switching condition [kpulse/s]
/[pulse]
/[r/min]
Set the changing condition values.
PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at changing.
(a) [Pr. PB26 Gain switching function]
Set the gain switching condition. Select the switching condition in the first to third digits.
Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed
0
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
[Pr. PB26]
Gain switching time constant disabling condition selection (Note)
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Note. This parameter setting is available with servo amplifiers with software version B4 or
later.
(b) [Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or
"Servo motor speed" in the gain switching selection of [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]
(c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. Use this parameter to suppress
shock given to the machine if the gain difference is large at gain switching, for example.