Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 199

No./symbol/ Setting Function
name digit
PB26 Select a 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 switching
_ _ _ x Gain switching selection
function
0: Disabled
1: Switching is enabled by control command from controller and Input device CDP (Gain switching).
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
Page 264 Gain switching procedure
x _ _ _ For manufacturer setting
PB27  Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr.
CDL PB26].
Gain switching The set value unit differs depending on the switching condition item.
condition Page 261 Parameter
The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 65535

PB28 Set the time constant at which the gains will change in response to the conditions set in [Pr. PB26] and [Pr.
CDT PB27].
Gain switching time Setting range: 0 to 100
constant
PB29  Set a load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled.
GD2B This parameter is enabled only when "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in
Load to motor [Pr. PA08].
inertia ratio/load to Setting range: 0.00 to 300.00
motor mass ratio
after gain switching

PB30 Set the position loop gain for when the gain switching is enabled.
PG2B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. PB08].
Position loop gain This parameter is enabled only when "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in
after gain switching [Pr. PA08].
Setting range: 0.0 to 2000.0

PB31 Set the speed loop gain for when the gain switching is enabled.
VG2B When a value less than 20 rad/s is set, the value will be the same as that of [Pr. PB09].
Speed loop gain This parameter is enabled only when "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in
after gain switching [Pr. PA08].
Setting range: 0 to 65535

PB32 Set the speed integral compensation for when the gain switching is enabled.
VICB When a value less than 0.1 ms is set, the value will be the same as that of [Pr. PB10].
Speed integral This parameter is enabled only when "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in
compensation after [Pr. PA08].
gain switching Setting range: 0.0 to 5000.0

PB33 Set the vibration frequency for vibration suppression control 1 for when the gain switching is enabled.
VRF11B When a value less than 0.1 Hz is set, the value will be the same as that of [Pr. PB19].
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression control • "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
1 - Vibration • "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB02].
frequency after gain • "Gain switching selection" is set to "Switching is enabled by control command from controller and Input
switching
Switching during driving may cause a shock. Be sure to switch them after the servo motor stops.
Setting range: 0.0 to 300.0
device CDP (Gain switching) (_ _ _ 1)" in [Pr. PB26].
Initial
value
[unit]
0h
0h
0h
0h
10
[kpulse/s]/
[pulse]/
[r/min]
1 [ms]
7.00 [times]
0.0 [rad/s]
0 [rad/s]
0.0 [ms]
0.0 [Hz]
5 PARAMETERS
5.2 Detailed list of parameters
5
197