[Pr. Pb07_Model Control Gain; [Pr. Pb08_Position Control Gain; [Pr. Pb09_Speed Control Gain (Vg2)] - Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual

[Pr. PB07_Model control gain (PG1)]
Initial value
15.0 [rad/s]
Set the response gain to the target position.
Increasing the setting value will improve the responsiveness to the position command. However, if the setting value increases
excessively, vibration and noise will occurs.
The setting of this servo parameter will be automatic or manual depending on the setting of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following table for details.
[Pr. PA08.0]
"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)
"5" (Quick tuning mode)
"6" (Load to motor inertia ratio monitor mode)
When the vibration suppression control is enabled, the settable range of [Pr. PB07 Model control gain] is limited. If the setting
value of [Pr. PB07 Model control gain] is out of the range, the vibration suppression control is disabled.
[Pr. PB08_Position control gain (PG2)]
Initial value
37.0 [rad/s]
Set the gain of the position loop.
Set this servo parameter when increasing the position responsiveness to level load disturbance.
Increasing the setting value will also increase the response level to the load disturbance. However if the setting value
increases excessively, vibration and noise will occur.
The setting of this servo parameter will be automatic or manual depending on the setting of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following table for details.
[Pr. PA08.0]
"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)
"5" (Quick tuning mode)
"6" (Load to motor inertia ratio monitor mode)

[Pr. PB09_Speed control gain (VG2)]

Initial value
823 [rad/s]
Set the gain of the speed loop.
Set this servo parameter when vibration occurs on machines with low rigidity or with large backlash. Increasing the setting
value will also increase the response level but will be liable to generate vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following for details.
Page 27 [Pr. PB08_Position control gain (PG2)]
Setting range
1.0 to 8000.0
Setting range
1.0 to 2000.0
Setting range
20 to 65535
Setting method
Each axis
Servo parameter status
Manual setting
Automatic setting
Manual setting
Automatic setting
Manual setting
Setting method
Each axis
Servo parameter status
Automatic setting
Manual setting
Automatic setting
Manual setting
Setting method
Each axis
1 DETAILED LISTS OF SERVO PARAMETERS
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Supported software version
A0
Supported software version
A0
Supported software version
A0
1
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