Mitsubishi MR-JE-100A, Instruction Manual

Page: 306 / 396

7. PARAMETERS
7 - 31
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control
mode
CP CL
PB25
*BOP1
Function
selection B-1 _ _ _ x For manufacturer setting 0h
_ _ x _ Position acceleration/deceleration filter type selection
Select the position acceleration/deceleration filter type.
0: Primary delay
1: Linear acceleration/deceleration
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 _ _ For manufacturer setting 0h
x _ _ _ 0h
PB27
CDL
Gain
switching
condition Set the value of the gain switching (command frequency, droop pulses, or servo
motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
section 7.2.3 of "MR-JE-_A Servo Amplifier Instruction Manual".)
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 "Gain adjustment mode selection" is set to
"Manual mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.00 to 300.00 7.00
[times]
PB30
PG2B
Position loop
gain after
gain
switching Set the position loop gain for when the gain switching is enabled.
When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr.
PB08].
This parameter is enabled only when "Gain adjustment mode selection" is set to
"Manual mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.0 to 2000.0 0.0
[rad/s]
PB31
VG2B
Speed loop
gain after
gain
switching Set the speed loop gain for when the gain switching is enabled.
When a value less than 20 rad/s is set, the value will be the same as that of [Pr.
PB09].
This parameter is enabled only when "Gain adjustment mode selection" is set to
"Manual mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0 to 65535 0
[rad/s]