Mitsubishi MR-J4-10A Instruction Manual page 207

5. PARAMETERS
No./symbol/ Setting
name digit
PB24 _ _ _ x Slight vibration suppression control selection
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration
1: Enabled
suppression
To enable the slight vibration suppression control, set "Gain adjustment mode
control
selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control cannot be used in the speed control mode.
_ _ x _ For manufacturer setting
_ x _ _
x _ _ _
PB25 _ _ _ x For manufacturer setting
*BOP1
_ _ x _ Position acceleration/deceleration filter type selection
Function
Select the position acceleration/deceleration filter type.
selection B-1
0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control mode.
Doing so will cause the servo motor to make a sudden stop at the time of control
mode switching.
_ x _ _ For manufacturer setting
x _ _ _
PB26 Select the gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain
_ _ _ x Gain switching selection
switching
0: Disabled
function
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
_ _ 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
_ x _ _ For manufacturer setting
x _ _ _
PB27 This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed/linear servo motor speed) selected in [Pr. PB26].
CDL
The set value unit differs depending on the switching condition item. (Refer to
Gain
section 7.2.3.)
switching
condition The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 9999
PB28 This is used to set the time constant at which the gains will change in response to
the conditions set in [Pr. PB26] and [Pr. PB27].
CDT
Gain
switching Setting range: 0 to 100
time constant
PB29 This is used to set the load to motor inertia ratio/load to motor mass ratio when gain
switching is enabled.
GD2B
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
Load to motor
mode (_ _ _ 3)" in [Pr. PA08].
inertia ratio/
load to motor
mass ratio
Setting range: 0.00 to 300.00
after gain
switching
PB30 Set the position loop gain when the gain switching is enabled.
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
Position loop This parameter is enabled only when "Gain adjustment mode selection" is "Manual
gain after mode (_ _ _ 3)" in [Pr. PA08].
gain
switching
Setting range: 0.0 to 2000.0
Function
5 - 28
Initial Control
value mode
[unit]
P S T
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
10
[kpulse/s]
/[pulse]
/[r/min]
1
[ms]
7.00
[Multiplier]
0.0
[rad/s]