Mitsubishi MR-J4-10A Instruction Manual page 204

5. PARAMETERS
No./symbol/ Setting
name digit
PB09 Set the gain of the speed loop.
VG2 Set this parameter when vibration occurs on machines of low rigidity or large
backlash. Increasing the setting value will also increase the response level but will
Speed loop
be liable to generate vibration and/or noise.
gain
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535
PB10 Set the integral time constant of the speed loop.
VIC Decreasing the setting value will increase the response level but will be liable to
generate vibration and/or noise.
Speed
integral The setting of the parameter will be the automatic setting or manual setting
compensation depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0
PB11 Set the differential compensation.
VDC To enable the setting value, turn on PC (proportional control).
Speed
differential
Setting range: 0 to 1000
compensation
PB12 Set a percentage of viscous friction torque against the servo motor rated value or
thrust against the linear servo motor rated value.
OVA
When the response level is low or when the torque/thrust is limited, the efficiency of
Overshoot
the parameter may be lower.
amount
compensation
Setting range: 0 to 100
PB13 Machine resonance suppression filter 1
NH1 Set the notch frequency of the machine resonance suppression filter 1.
Machine When "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" is selected with
resonance [Pr. PB01], this parameter will be set automatically.
suppression
When "Filter tuning mode selection" is "Manual setting (_ _ _ 2)" in [Pr. PB01], the
filter 1
setting value is enabled.
Setting range: 10 to 4500
PB14 Set the shape of the machine resonance suppression filter 1.
NHQ1 When "Filter tuning mode selection" is "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be set
automatically.
Notch shape
selection 1 Set manually for the manual setting.
_ _ _ x For manufacturer setting
_ _ x _ Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting
PB15 Set the notch frequency of the machine resonance suppression filter 2.
NH2 To enable the setting value, set "Machine resonance suppression filter 2 selection"
to "Enabled (_ _ _ 1)" in [Pr. PB16].
Machine
resonance
suppression
Setting range: 10 to 4500
filter 2
Function
5 - 25
Control
Initial
value mode
[unit]
P S T
823
[rad/s]
33.7
[ms]
980
0
[%]
4500
[Hz]
0h
0h
0h
0h
4500
[Hz]