Mitsubishi Electric MELSERVO-J2-Super Series Instruction Manual page 188

6. PARAMETERS
Class No. Symbol
24 FFC Feed forward gain
Set the feed forward gain. When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.
25 For manufacturer setting
Don't change this value by any means.
26
27
28 TL1 Internal torque limit 1
Used to limit servo motor-torque on the assumption that the maximum torque
is 100%. (Refer to Section 4.4.4) When 0 is set, torque is not produced.
29 TL2 Internal torque limit 2
Used to limit servo motor-torque on the assumption that the maximum torque
is 100%. (Refer to Section 4.4.4) When 0 is set, torque is not produced.
Made valid by switching on the internal torque limit selection (RY(n+2)6).
30 *BKC Backlash compensation
Used to set the backlash compensation made when the command direction is
reversed.
This function compensates for the number of backlash pulses in the opposite
direction to the home position return direction. In the absolute position
detection system, this function compensates for the backlash pulse count in
the direction opposite to the operating direction at power-on.
31 For manufacturer setting
Don't change this value by any means.
32
33 MBR Electromagnetic brake sequence output
Used to set the delay time (Tb) between when the electromagnetic brake
interlock (RXn6) switches off and when the base circuit is shut off.
(Refer to Section 4.9)
34 GD2 Ratio of load inertia moment to servo motor inertia moment:
Used to set the ratio of the load inertia moment to the servo motor shaft
inertia moment. (Refer to Chapter 9)
When auto tuning is selected, the result of auto tuning is automatically set.
35 PG2 Position loop gain 2
Used to set the gain of the position loop. (Refer to Chapter 9)
Set this parameter to increase the position response level to load disturbance.
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning is selected, the result of auto tuning is automatically set.
36 VG1 Speed loop gain 1
Normally this parameter value need not be changed.
Higher setting increases the response level but is liable to generate vibration
and/or noise. (Refer to Chapter 9)
When auto tuning is selected, the result of auto tuning is automatically set.
37 VG2 Speed loop gain 2
Set this parameter when vibration occurs on machines of low rigidity or large
backlash. Higher setting increases the response level but is liable to generate
vibration and/or noise. (Refer to Chapter 9)
When auto tuning is selected, the result of auto tuning is automatically set.
38 VIC Speed integral compensation
Used to set the integral time constant of the speed loop. (Refer to Chapter 9)
When auto tuning is selected, the result of auto tuning is automatically set.
Name and Function
6 - 11
Initial Setting
Unit
value range
0 % 0 to 100
0
0
4000
100 % 0 to 100
100 % 0 to 100
0 pulse 0 to 1000
0
0
100 ms 0 to 1000
70 0.1 0 to 1000
times
35 rad/s 1 to 1000
177 rad/s 20 to
8000
817 rad/s 20 to
20000
48 ms 1 to 1000