Mitsubishi Electric MELSERVO-J4 series Instruction Manual page 164

5. PARAMETERS
No. Symbol
PB24 *MVS Slight vibration suppression control
Select the slight vibration suppression control and PI-PID switching control.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PB26 *CDP Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr.
PB56] to [Pr. PB60].
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
Gain switching condition
PB27 CDL
This is used to set the value of gain switching (command frequency, droop pulses, and servo
motor speed/linear servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
Gain switching time constant
PB28 CDT
This is used to set the time constant at which the gains will change in response to the
conditions set in [Pr. PB26] and [Pr. PB27].
Load to motor inertia ratio/load to motor mass ratio after gain switching
PB29 GD2B
This is used to set the load to motor inertia ratio/load to motor mass ratio when gain switching
is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
Name and function
Explanation
Slight vibration suppression control selection
0: Disabled
1: Enabled
To enable the slight vibration suppression control, select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].
Slight vibration suppression control cannot be used in the speed
control mode.
PI-PID switching control selection
0: PI control enabled
(Switching to PID control is possible with commands of servo
system controller.)
3: Continuous PID control enabled
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically after
positioning completion (stop), enabling PID control and completing
positioning simultaneously will suppress the unnecessary torque
generated to compensate for a position shift.
For manufacturer setting
Explanation
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or
more
1: Gain after switching is enabled with gain switching condition or
less
For manufacturer setting
5 - 27
Initial
Setting
value
range
[unit]
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
10 0 to
[kpulse/s] 65535
/[pulse]
/[r/min]
1 0 to 100
[ms]
7.00 0.00 to
300.00
[Multiplier]