Parameter - Mitsubishi Electric MR-J4W2-0303B6 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 gain switching conditions. 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/linear servo motor speed" with the gain switching selection in [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: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear 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 digit is available with servo amplifier with software version B4 or later.
Gain switching condition
Command frequency
Droop pulses
Servo motor speed/linear servo motor speed
7 - 17
Description
Select a switching condition.
Set a switching condition values.
Set the filter time constant for a gain switch at switching.
[kpulse/s]
[pulse]
[r/min]/[mm/s]
Unit