Parameter - Mitsubishi Electric MR-JE-_A Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Parameter for setting gain switching condition
Parameter Symbol
PB26 CDP Gain switching function
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
(a) [Pr. PB26 Gain switching function]
Set the gain switching condition. Select the switching condition in the first to third digits.
(b) [Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or
"Servo motor speed" in the gain switching selection of [Pr. PB26 Gain switching function].
The setting unit is as follows.
(c) [Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. Use this parameter to suppress
shock given to the machine if the gain difference is large at gain switching, for example.
Name Unit
[kpulse/s]
/[pulse]
/[r/min]
[ms]
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection (Note)
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Note. This parameter setting is available with servo amplifiers with software version B4 or
later.
Gain switching condition
Command frequency
Droop pulses
Servo motor speed
7 - 16
Description
Select the changing condition.
Set the changing condition values.
Set the filter time constant for a gain change at changing.
[kpulse/s]
[pulse]
[r/min]
Unit