Mitsubishi Electric Melservo MR-J3-100B, Руководство пользователя

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
2 - 39
MR-J3-_A_ MR-J4-_A_
Control
mode
No. Name and function
Initial
value
No. Name and function
Initial
value
PB31 Gain changing speed loop gain
Set the speed loop gain when the gain changing is
valid.
This parameter is made valid when the auto tuning
is invalid ([Pr. PA08]: _ _ _ 3).
Note The setting range of 50000 applies to the
servo amplifier whose software version is A3 or
later. The setting range of the servo amplifier whose
software version is older than A3 is 20 to 20000.
When the software version of Setup software
(SETUP221E) is A3 or earlier, 20001 or more
cannot be set. Use the display/operation section of
the servo amplifier to set 20001 or more.
823 PB31
Speed loop gain after gain switching
Set the speed loop gain when the gain switching is
enabled.
When you set a value less than 20 rad/s, the value
will be the same as [Pr. PB09].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0 to 65535
0
P
S
PB32 Gain changing speed integral compensation
Set the speed integral compensation when the gain
changing is valid.
This parameter is made valid when the auto tuning
is invalid ([Pr. PA08]: _ _ _ 3).
33.7 PB32
Speed integral compensation after gain switching
Set the speed integral compensation when the gain
changing is enabled.
When you set a value less than 0.1 ms, the value
will be the same as [Pr. PB10].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.0 to 5000.0
0.0
P
S
PB33
Gain changing vibration suppression control -
vibration frequency setting
Set the vibration frequency for vibration suppression
control when the gain changing is valid. This
parameter is made valid when the [Pr. PB02] setting
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1".
When using the vibration suppression control gain
changing, always execute the changing after the
servo motor has stopped.
100.0 PB33 Vibration suppression control 1 - Vibration frequency
after gain switching
Set the vibration frequency for vibration suppression
control 1 when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value
will be the same as [Pr. PB19].
This parameter will be enabled only when the
following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.
Setting range: 0.0 to 300.0
0.0
P
PB34
Gain changing vibration suppression control -
resonance frequency setting
Set the resonance frequency for vibration
suppression control when the gain changing is valid.
This parameter is made valid when the [Pr. PB02]
setting is "_ _ _ 2" and the [Pr. PB26] setting is "_ _
_ 1".
When using the vibration suppression control gain
changing, always execute the changing after the
servo motor has stopped.
100.0 PB34 Vibration suppression control 1 - Resonance
frequency after gain switching
Set the resonance frequency for vibration
suppression control 1 when the gain switching is
enabled.
When you set a value less than 0.1 Hz, the value
will be the same as [Pr. PB20].
This parameter will be enabled only when the
following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.
Setting range: 0.0 to 300.0
0.0
P