Mitsubishi Electric MR-J4 TM Series, Инструкция по эксплуатации, Страница: 169 / 594

5. PARAMETERS
5 - 30
No./
symbol/name
Setting
digit
Function
Initial
value
[unit]
Network
ECT EIP
PB09
VG2
Speed loop
gain Set the gain of the speed loop.
Set this parameter when vibration occurs on machines of low rigidity or with large
backlash. Increasing the setting value will also increase the response level but will
be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535 823
[rad/s]
PB10
VIC
Speed
integral
compensation Set the integral time constant of the speed loop.
Decreasing the setting value will increase the response level but will be liable to
generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0 33.7
[ms]
PB11
VDC
Speed
differential
compensation Set the differential compensation.
To enable the parameter at all times, select "Continuous PID control enabled (_ _ 3
_)" of "PI-PID switching control selection" in [Pr. PB24].
To enable it, turn on PC (Proportional control) or PID switching signal (C_PC) from
controller.
Setting range: 0 to 1000 980
PB12
OVA
Overshoot
amount
compensation Set a percentage of viscous friction torque against the servo motor rated value or
thrust against the linear servo motor rated value.
When the response level is low or when the torque/thrust is limited, the efficiency of
the parameter may be lower.
Setting range: 0 to 100 0
[%]
PB13
NH1
Machine
resonance
suppression
filter 1 Set the notch frequency of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB01], this parameter will be adjusted automatically by adaptive tuning.
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],
the setting value will be enabled.
Setting range: 10 to 4500 4500
[Hz]
PB14
NHQ1
Notch shape
selection 1 Set forms of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter
will be adjusted automatically by adaptive tuning.
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value
will be enabled.
_ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0h
_ x _ _ Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
0h
x _ _ _ For manufacturer setting 0h
PB15
NH2
Machine
resonance
suppression
filter 2 Set the notch frequency of the machine resonance suppression filter 2.
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance
suppression filter 2 selection" in [Pr. PB16].
Setting range: 10 to 4500 4500
[Hz]