[Pr. Pb78_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching 2 (Vrf24C)]; [Pr. Pb79_Gain Switching 2 - Model Control Gain (Pg1C)]; [Pr. Pb81_Command Filter (*Cfil)]; [Pr. Pb82_Position Command Smoothing Filtering Time Constant (Pft)] - Mitsubishi Electric Melservo-Jet MR-JET-G User Manual

[Pr. PB78_Vibration suppression control 2 - Resonance
frequency damping after gain switching 2 (VRF24C)]
Initial value
0.00
Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled.
This servo parameter is enabled in the following conditions:
• [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
• [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode).
• [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting).
• [Pr. PB26.0 Gain switching selection] is set to "1" (signal (CDP/C_CDP)), and [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Or, "1" (signal (CDP2/C_CDP2)) is selected in [Pr.
PB26.4].
Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB79_Gain switching 2 - Model control gain (PG1C)]

Initial value
0.0 [rad/s]
Set the model control gain for when the gain switching is enabled.
When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied.
This servo parameter is enabled in the following conditions:
• [Pr. PB26.0 Gain switching selection] is set to "1" (signal (CDP/C_CDP)), and [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Or, "1" (signal (CDP2/C_CDP2)) is selected in [Pr.
PB26.4].

[Pr. PB81_Command filter (*CFIL)]

Initial value
00000001h
[Pr. PB81.4_Position command smoothing filter]
Initial value
0h
This function can be used only in position mode.
This filter and [Pr. PB45 Command notch filter] are mutually exclusive. "1" (enabled) can be set in this function only when [Pr.
PB45.0-1 Command notch filter setting frequency selection] is set to "00h" (disabled). When a setting value other than "00h"
(disabled) is set in [Pr. PB45.0-1], the filter is disabled regardless of the setting value.
0: Disabled
1: Enabled
When "1" (enabled) is selected, set the filter time constant with [Pr. PB82 Position command smoothing filtering time
constant].
[Pr. PB82_Position command smoothing filtering time constant
(PFT)]
Initial value
0.0 [ms]
Set the position command smoothing filtering time constant.
This servo parameter can be used when [Pr. PB81.4 Position command smoothing filter] is set to "1" (enabled).
1 SERVO PARAMETER DETAILS
54
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Setting range
0.00 to 0.30
Setting range
0.0 to 8000.0
Setting range
Refer to the relevant detail No.
Setting range
Refer to the text
Setting range
0.0 to 100.0
Ver.
A4
Ver.
A4
Ver.
Refer to the relevant detail No.
Ver.
A4
Ver.
A4