Mitsubishi Electric MR-J4-TM Instruction Manual page 168

5. PARAMETERS
No./ Setting
symbol/name digit
PB04 Set the feed forward gain.
FFC When the setting is 100%, the droop pulses during operation at constant speed will
be almost 0. When the super trace control is enabled, constant speed and uniform
Feed forward
acceleration/deceleration droop pulses will be almost 0. However, sudden
gain
acceleration/deceleration will increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more for the acceleration time constant to
the rated speed.
Setting range: 0 to 100
PB06 Set a load to motor inertia ratio or load to motor mass ratio.
GD2 Setting a value considerably different from the actual load moment of inertia or load
mass may cause an unexpected operation such as an overshoot.
Load to motor
inertia The setting of this parameter will be automatic or manual depending on the setting of
ratio/load to [Pr. PA08]. Refer to the following table for details. When the parameter is set to
motor mass automatic, the value will vary between 0.00 and 100.00.
ratio
Setting range: 0.00 to 300.00
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
PB07 Set the response gain to the target position.
PG1 Increasing the setting value will also increase the response level to the position
command but will be liable to generate vibration and noise.
Model loop
gain The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details.
Setting range: 1.0 to 2000.0
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
PB08 Set the gain of the position loop.
PG2 Set this parameter to increase the position response to level load disturbance.
Position loop Increasing the setting value will also increase the response level to the load
gain disturbance 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 following table for details.
Setting range: 1.0 to 2000.0
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
Function
Pr. PA08
Pr. PA08
Pr. PA08
5 - 29
This parameter
Automatic setting
Manual setting
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
Initial
Network
value
ECT EIP
[unit]
0
[%]
7.00
[times]
15.0
[rad/s]
37.0
[rad/s]