Mitsubishi Electric MR-J5-B, Руководство пользователя

Страница: 57 / 158

1 SERVO PARAMETER DETAILS
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
55
1
[Pr. PB59_Gain switching - Vibration suppression control 2 -
Resonance frequency damping (VRF24B)]
Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled.
This servo parameter is enabled in the following conditions:
• [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
• [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode).
• [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting).
• "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection].
[Pr. PB60_Gain switching - Model control gain (PG1B)]
Set the model control gain for when the gain switching is enabled.
When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied.
This servo parameter is enabled in the following conditions:
• [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
• "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection].
Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.
[Pr. PB65_Gain switching 2 condition (CDL2)]
Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain
switching selection].
The set value unit differs depending on the switching condition item. The units are as follows: [kpulse/s] for command
frequency, [pulse] for droop pulses, and [r/min] for servo motor speed.
If using a linear servo motor, the unit of the servo motor speed is [mm/s].
The setting value is to be larger than in [Pr. PB27 Gain switching condition].
When the setting value of this servo parameter is "0", the gain is not switched to the gain switching 2.
Initial value Setting range Setting method Ver.
0.00 0.00 to 0.30 Each axis C4
Initial value Setting range Setting method Ver.
0.0 [rad/s] 0.0 to 8000.0 Each axis C4
Initial value Setting range Setting method Ver.
10 [Refer to the text below for the
unit.] 0 to 16777215 Each axis C4