Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Инструкция по эксплуатации

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7. PARAMETERS
7 - 36
No./
symbol/name
Setting
digit
Function
Initial
value
[unit]
Control mode
CP/BCD
CL
PS
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 (Note)
3: Droop pulses
4: Servo motor speed/linear servo motor speed
0h
Note. This will be a frequency of the servo motor side (load side for the fully closed
loop control) command pulse unit.
_ _ 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 This is used to set the value of gain switching (command frequency, droop pulses, and
servo motor speed/linear servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
"MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 9999 10
[kpulse/s]/
[pulse]/
[r/min]
PB28
CDT
Gain
switching time
constant Set the time constant at which the gains will change 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/load to
motor mass
ratio after
gain switching Set the load to motor inertia ratio/load to motor mass 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 for 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]
PB31
VG2B
Speed loop
gain after gain
switching Set the speed loop gain for 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 you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Setting range: 0 to 65535 0
[rad/s]
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