Mitsubishi Electric MR-JE-_A Instruction Manual page 158

5. PARAMETERS
No./symbol/ Setting
name digit
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 noise.
Model loop
gain For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is
limited. Refer to section 7.1.5 (4) for details.
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 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)
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 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 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
compensation Setting range: 0 to 1000
Function
Pr. PA08
Pr. PA08
5 - 19
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
Initial
Control mode
value
P S T
[unit]
15.0
[rad/s]
37.0
[rad/s]
823
[rad/s]
33.7
[ms]
980