Gain Switching Procedure - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

Gain switching procedure

This operation will be described by way of setting examples.
When you choose switching by control command from the controller
■Setting example
Parameter Symbol
PB06 GD2
PB07 PG1
PB08 PG2
PB09 VG2
PB10 VIC
PB19 VRF11
PB20 VRF12
PB21 VRF13
PB22 VRF14
PB52 VRF21
PB53 VRF22
PB54 VRF23
PB55 VRF24
PB29 GD2B
PB60 PG1B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB26 CDP
PB28 CDT
PB33 VRF11B
PB34 VRF12B
PB35 VRF13B
PB36 VRF14B
PB56 VRF21B
PB57 VRF22B
PB58 VRF23B
PB59 VRF24B
7 SPECIAL ADJUSTMENT FUNCTIONS
264
7.2 Gain switching function
Name
Load to motor inertia ratio/load to motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Vibration suppression control 1 - Vibration frequency
Vibration suppression control 1 - Resonance frequency
Vibration suppression control 1 - Vibration frequency damping
Vibration suppression control 1 - Resonance frequency
damping
Vibration suppression control 2 - Vibration frequency
Vibration suppression control 2 - Resonance frequency
Vibration suppression control 2 - Vibration frequency damping
Vibration suppression control 2 - Resonance frequency
damping
Load to motor inertia ratio/load to motor mass ratio after gain
switching
Model loop gain after gain switching
Position loop gain after gain switching
Speed loop gain after gain switching
Speed integral compensation after gain switching
Gain switching function
Gain switching time constant
Vibration suppression control 1 - Vibration frequency after
gain switching
Vibration suppression control 1 - Resonance frequency after
gain switching
Vibration suppression control 1 - Vibration frequency damping
after gain switching
Vibration suppression control 1 - Resonance frequency
damping after gain switching
Vibration suppression control 2 - Vibration frequency after
gain switching
Vibration suppression control 2 - Resonance frequency after
gain switching
Vibration suppression control 2 - Vibration frequency damping
after gain switching
Vibration suppression control 2 - Resonance frequency
damping after gain switching
Setting value
4.00
100
120
3000
20
50
50
0.20
0.20
20
20
0.10
0.10
10.00
50
84
4000
50
0001
(Switch by control command from the
controller and Input device CDP (Gain
switching).)
100
60
60
0.15
0.15
30
30
0.05
0.05
Unit
[Multiplier]
[rad/s]
[rad/s]
[rad/s]
[ms]
[Hz]
[Hz]


[Hz]
[Hz]


[Multiplier]
[rad/s]
[rad/s]
[rad/s]
[ms]

[ms]
[Hz]
[Hz]


[Hz]
[Hz]

