[Pr. Pb65_Gain Switching 2 Condition (Cdl2)]; [Pr. Pb66_Gain Switching 2 Time Constant (Cdt2)]; [Pr. Pb67_Gain Switching 2 - Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2C)]; [Pr. Pb68_Position Control Gain After Gain Switching 2 (Pg2C)] - Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual

[Pr. PB65_Gain switching 2 condition (CDL2)]

Initial value
10 [Refer to the text]
Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain
switching selection].
The set value unit differs depending on the switching condition item. The units are as follows: [kpulse/s] for command
frequency, [pulse] for droop pulses, and [r/min] for servo motor speed.
The unit of the linear servo motor speed is mm/s.
The setting value is to be larger than in [Pr. PB27 Gain switching condition].
When "0" is set, the gain is not switched to the gain switching 2.

[Pr. PB66_Gain switching 2 time constant (CDT2)]

Initial value
1 [ms]
Set the time constant until the gain switches from "gain at normal use" or "gain at switching" to "gain at switching 2" in
response to the conditions set in [Pr. PB26 Gain switching function] and [Pr. PB65 Gain switching 2 - Condition].
[Pr. PB67_Gain switching 2 - Load to motor inertia ratio/load to
motor mass ratio (GD2C)]
Initial value
7.00 [Multiplier]
Set the load to motor inertia ratio/load to motor mass ratio for when the gain switching 2 is enabled.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (Manual mode).

[Pr. PB68_Position control gain after gain switching 2 (PG2C)]

Initial value
0.0 [rad/s]
Set the position control gain for when the gain switching 2 is enabled.
When the setting value of this parameter is less than "1.0", the setting value of [Pr. PB08] is applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (Manual mode).

[Pr. PB69_Speed control gain after gain switching 2 (VG2C)]

Initial value
0 [rad/s]
Set the speed control gain for when the gain switching 2 is enabled.
When the setting value of this servo parameter is less than "20", the setting value of [Pr. PB09] is applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (Manual mode).
[Pr. PB70_Gain switching 2 - Speed integral compensation
(VICC)]
Initial value
0.0 [ms]
Set the speed integral compensation for when the gain switching 2 is enabled.
When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB10] is applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (Manual mode).
1 DETAILED LISTS OF SERVO PARAMETERS
50
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Setting range
0 to 16777215
Setting range
0 to 100
Setting range
0.00 to 300.00
Setting range
0.0 to 2000.0
Setting range
0 to 65535
Setting range
0.0 to 5000.0
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Supported software version
A0
Supported software version
A0
Supported software version
A0
Supported software version
A0
Supported software version
A0
Supported software version
A0