Mitsubishi Electric MELSERVO-J3 Series Instruction Manual page 354

10. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No.PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of
ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed
integral compensation to be changed.
(2) Gain switching - ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment
ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia
moment (parameter No.PB06).
(3) Gain switching - position loop gain (parameter No.PB30), Gain switching - speed loop gain (parameter
No.PB31), Gain switching - speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.
(4) Gain switching selection (parameter No.PB26)
Used to set the gain switching condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the gain switching (RY(n 2)) input device for gain switching.
0 0
(5) Gain switching condition (parameter No.PB27)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain switching
selection (parameter No.PB26), set the gain switching level.
The setting unit is as follows.
(6) Gain switching time constant (parameter No.PB28)
You can set the primary delay filter to each gain at gain switching. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain switching, for example.
(7) Gain switching vibration suppression control
The gain switching vibration suppression control is available only when switching ON/OFF with input
devices.
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB34 settings.
0: Invalid
1: Gain changing (RY(n+2)) is ON
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain changing condition
0: Valid at more than condition (Valid when gain changing (RY(n+2) is ON)
1: Valid at less than condition (Valid when gain changing (RY(n+2) is OFF)
Gain switching condition
Command frequency
Droop pulses
Servo motor speed
10 - 13
Unit
kpps
pulse
r/min