Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 195

No./symbol/ Setting Function
name digit

PB07 Set the response gain to the target position.
PG1 Increasing the setting value will also increase the response level to the position command but will be liable to
Model loop gain generate vibration and noise. When the vibration suppression control is used, the setting range of [Pr. PB07]
is limited. Refer to the following for details.
Page 256 Vibration suppression control manual mode
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
following table for details.
Setting range: 1.0 to 2000.0
Pr. PA08
_ _ _ 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 gain Increasing the setting value will also increase the response level to the load disturbance but will be liable to
generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
following table for details.
Setting range: 1.0 to 2000.0
Pr. PA08
_ _ _ 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 with large backlash. Increasing the
Speed loop gain setting value will also increase the response level but will be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of [Pr. PA08]. 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 this parameter will be automatic or manual depending on the setting of [Pr. PA08]. Refer to the
compensation table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0

PB11 Set the differential compensation.
VDC To enable the parameter at all times, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching
Speed differential control selection" in [Pr. PB24].
compensation To enable it, turn on PC (Proportional control) or PID switching signal from controller.
Setting range: 0 to 1000
PB12  Set a viscous friction torque in percentage to the rated torque at servo motor rated speed. Or, set a
OVA percentage of viscous friction force against the continuous thrust at linear servo motor rated speed.
Overshoot amount When the response level is low or when the torque/thrust is limited, the efficiency of the parameter may be
compensation lower.
Setting range: 0 to 100

PB13 Set the notch frequency of the machine resonance suppression filter 1.
NH1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
Machine resonance adjusted automatically by adaptive tuning.
suppression filter 1 When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.
Setting range: 10 to 4500
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
5 PARAMETERS
5.2 Detailed list of parameters
Initial
value
[unit]
15.0
[rad/s]
5
37.0
[rad/s]
823 [rad/s]
33.7 [ms]
980
0 [%]
4500 [Hz]
193