Mitsubishi MR-J4-10A Instruction Manual page 203

5. PARAMETERS
No./symbol/ Setting
name digit
PB04 Set the feed forward gain.
FFC When the setting is 100%, the droop pulses during operation at constant speed are
nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
Feed forward
As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the
gain
acceleration time constant up to the rated speed.
Setting range: 0 to 100
PB06 Set the load to motor inertia ratio or load to motor mass ratio.
GD2 The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details. When
Load to motor
the parameter is automatic setting, the value will vary between 0.00 and 100.00.
inertia ratio/
load to motor
mass 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 up 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/or noise.
Model loop
gain The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. 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/or noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. 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 - 24
This parameter
Automatic setting
Manual setting
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
Control
Initial
value mode
[unit]
P S T
0
[%]
7.00
[Multiplier]
15.0
[rad/s]
37.0
[rad/s]