Parameters - Mitsubishi Electric MR-J2S-A Instruction Manual

8. SPECIAL ADJUSTMENT FUNCTIONS

8.5.3 Parameters

When using the gain changing function, always set "
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrevi
No. ation
6 PG1 Position control gain 1
36 VG1 Speed control gain 1
Ratio of load inertia moment to
34 GD2
servo motor inertia moment
35 PG2 Position control gain 2
37 VG2 Speed control gain 2
38 VIC Speed integral compensation
Ratio of load inertia moment to
61 GD2B
servo motor inertia moment 2
Position control gain 2 changing
62 PG2B
ratio
Speed control gain 2 changing
63 VG2B
ratio
Speed
64 VICB
changing ratio
65 CDP Gain changing selection
66 CDS Gain changing condition
67 CDT Gain changing time constant
(1) Parameters No. 6, 34 to 38
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: parameter No. 61)
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. 34).
(3) Position control gain 2 changing ratio (parameter No. 62), speed control gain 2 changing ratio (parameter
No. 63), speed integral compensation changing ratio (parameter No. 64)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2
compensation 20 and position control gain 2 changing ratio
ratio 150% and speed integral compensation changing ratio
follows.
Position control gain 2
Speed control gain 2
Speed integral compensation
ratio /100 16ms
Name Unit
rad/s
rad/s
0.1
times
rad/s
rad/s
ms
0.1
times
%
%
integral compensation
%
kpps
pulse
r/min
ms
Position control gain 2
Speed control gain 2 Speed control gain 2 changing ratio /100
Speed integral compensation
8 - 6
WWW.NNC.IR
4 " in parameter No.2 (auto tuning) to choose
Description
Position and speed gains of a model used to set the response
level to a command. Always valid.
Control parameters before changing
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
Used to set the ratio (%) of the after-changing position
control gain 2 to position control gain 2.
Used to set the ratio (%) of the after-changing speed control
gain 2 to speed control gain 2.
Used to set the ratio (%) of the after-changing speed integral
compensation to speed integral compensation.
Used to select the changing condition.
Used to set the changing condition values.
You can set the filter time constant for a gain change at
changing.
100, speed control gain 2
180%, speed control gain 2 changing
80%, the after-changing values are as
Position control gain 2 changing ratio /100 180rad/s
Speed integral compensation changing
2000, speed integral
3000rad/s