Gain/Filter Setting Parameters ([Pr. Pb_ _ ]) - Mitsubishi Electric MR-J4W2 Instruction Manual

5. PARAMETERS

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

No. Symbol
PB01 FILT Adaptive tuning mode (adaptive filter II)
Set the adaptive filter tuning.
All axes cannot be simultaneously enabled for this function. Set for each axis to use.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for
details.
All axes cannot be simultaneously enabled for this function. Set for each axis to use.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PB03 TFBGN Torque feedback loop gain
Set a torque feedback loop gain in the continuous operation to torque control mode.
Decreasing the setting value will also decrease a collision load during continuous
operation to torque control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
PB04 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 1 s or more as the
acceleration time constant up to the rated speed.
Name and function
Explanation
Filter tuning mode selection
Select the adjustment mode of the machine resonance
suppression filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
For manufacturer setting
Explanation
Vibration suppression control 1 tuning mode selection
Select the tuning mode of the vibration suppression control
1.
0: Disabled
1: Automatic setting
2: Manual setting
Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression control
2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of
"Vibration suppression mode selection" in [Pr. PA24
Function selection A-4].
0: Disabled
1: Automatic setting
2: Manual setting
For manufacturer setting
5 - 23
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
18000 0 to
[rad/s] 18000
0 0 to
[%] 100
Each/
Common
Each
Each
Each
Each