Parameter - Mitsubishi Electric MR-J4 Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Parameter for setting gain switching condition
Parameter Symbol
PB26 CDP Gain switching selection
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
(a) [Pr. PB26 Gain switching function]
Used to set the gain switching condition. Select the switching condition in the first to third digits.
(b) [Pr. PB27 Gain switching condition]
Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor
speed/linear servo motor speed" in [Pr. PB26 Gain switching function].
The setting unit is as follows.
(c) [Pr. PB28 Gain switching time constant]
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.
Name Unit
[kpulse/s]
/[pulse]
/[r/min]
[ms]
[Pr. PB26]
0
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
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Gain switching condition
Command frequency
Droop pulses
Servo motor speed/linear servo motor speed
7 - 17
Description
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.
[kpulse/s]
[pulse]
[r/min]/[mm/s]
Unit