[Pr. Pb08_Position Control Gain; [Pr. Pb09_Speed Control Gain (Vg2)]; [Pr. Pb10_Speed Integral Compensation (Vic)]; [Pr. Pb11_Speed Differential Compensation (Vdc)] - Mitsubishi Electric Melservo-Jet MR-JET-G User Manual

[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 improves responsiveness to the load disturbance, but increasing the value too much raises the
likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value 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 improves responsiveness, but increasing the value too much raises the likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following for details.
Page 29 [Pr. PB08_Position control gain (PG2)]

[Pr. PB10_Speed integral compensation (VIC)]

Initial value
33.7 [ms]
Set the integral time constant of the speed loop.
Decreasing the setting value improves responsiveness, but raises the likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following for details.
Page 29 [Pr. PB08_Position control gain (PG2)]

[Pr. PB11_Speed differential compensation (VDC)]

Initial value
980
Set the differential compensation.
The enabling conditions vary depending on the setting value in [Pr. PB24.1 PI-PID switching control selection].
[Pr. PB24.1]
"0" (switching is enabled by PID switching signal (C_PC) from controller and the input
device (PC))
"3" (continuous PID control enabled)
Setting range
1.0 to 2000.0
Setting range
20 to 65535
Setting range
0.1 to 1000.0
Setting range
0 to 1000
The enabling conditions for this servo parameter
Enabled by turning on the PID switching signal from controller
(C_PC), or by turning on the PC (Proportional control)
Always enabled
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Ver.
A4
Servo parameter status
Automatic setting
Manual setting
Automatic setting
Manual setting
Ver.
A4
Ver.
A4
Ver.
A4
1 SERVO PARAMETER DETAILS
1
29