[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_Gain Switching 2 - Position Control Gain (Pg2C)]; [Pr. Pb69_Gain Switching 2 - Speed Control Gain (Vg2C)] - Mitsubishi Electric MELSERVO MR-J5W-B Series User Manual

[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_Gain switching 2 - Position control gain (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 servo parameter is less than "1.0", the setting value of [Pr. PB08 Position control gain] is
applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB69_Gain switching 2 - Speed control gain (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 Speed control gain] 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 Speed integral compensation]
is applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
1 SERVO PARAMETER DETAILS
56
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
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
Ver.
C4
Ver.
C4
Ver.
C4
Ver.
C4
Ver.
C4