Mitsubishi Electric MR-J4 TM Series, Инструкция по эксплуатации, Страница: 172 / 594

5. PARAMETERS
5 - 33
No./
symbol/name
Setting
digit
Function
Initial
value
[unit]
Network
ECT EIP
PB24
*MVS
Slight
vibration
suppression
control _ _ _ x Slight vibration suppression control selection
Select the slight vibration suppression control.
0: Disabled
1: Enabled
To enable the slight vibration suppression control, set "Gain adjustment mode
selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control selection cannot be used in the velocity mode.
0h
_ _ x _ PI-PID switching control selection
0: PI control enabled
(Switching is enabled by PID switching signal from controller (C_PC) and Input
device PC (Proportional control).)
3: Continuous PID control enabled
If the servo motor at a stop is rotated even one pulse due to any external factor, it
generates torque to compensate for a position shift. When the servo motor shaft is to
be locked mechanically after positioning completion (stop), enabling PID control and
completing positioning simultaneously will suppress the unnecessary torque
generated to compensate for a position shift.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PB25
*BOP1
Function
selection B-1 _ _ _ x Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
Refer to section 7.5 for details.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PB26
*CDP
Gain
switching
function Select a 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: Switching is enabled by control command from controller (C_CDP) and Input
device CDP (Gain switching).
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 _ _ Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
0h
x _ _ _ For manufacturer setting 0h
PB27
CDL
Gain
switching
condition This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 65535 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]