Mitsubishi Electric MR-JE-_A Instruction Manual page 162

5. PARAMETERS
No./symbol/ Setting
name digit
PB25 _ _ _ x Model adaptive control selection
*BOP1 0: Enabled (model adaptive control)
Function 2: Disabled (PID control)
selection B-1
This parameter setting is available with servo amplifiers with software version B4 or
later.
_ _ x _ Position acceleration/deceleration filter type selection
Select the position acceleration/deceleration filter type.
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
_ _ 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 _ _ Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
This parameter setting is available with servo amplifiers with software version B4 or
later.
x _ _ _ For manufacturing setting
PB27 Set the value of gain switching (command frequency, droop pulses, and 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
Setting range: 0 to 9999
PB28 Set the time constant until the gains switch in response to the conditions set in [Pr.
PB26] and [Pr. PB27].
CDT
Gain
switching
time constant Setting range: 0 to 100
PB29 Set the load to motor inertia ratio for when gain switching is enabled.
GD2B This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Load to motor
inertia ratio
after gain
switching Setting range: 0.00 to 300.00
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 you select "Manual mode (_ _ _ 3)" of "Gain
gain after adjustment mode selection" in [Pr. PA08].
gain
switching Setting range: 0.0 to 2000.0
Function
5 - 23
Initial
Control mode
value
P S T
[unit]
0h
0h
0h
0h
0h
0h
0h
0h
10
[kpulse/
s]
/[pulse]
/[r/min]
1
[ms]
7.00
[Multipli
er]
0.0
[rad/s]