Mitsubishi Electric MR-J4-TM Instruction Manual page 172

5. PARAMETERS
No./ Setting
symbol/name digit
PB24 _ _ _ x Slight vibration suppression control selection
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration
1: Enabled
suppression
To enable the slight vibration suppression control, set "Gain adjustment mode
control
selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control selection cannot be used in the velocity mode.
_ _ x _ PI-PID switching control selection
0: PI control enabled
(Switching is enabled by PID switching signal from controller (C_PC) and Input
device PC (Proportional control).)
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.
_ x _ _ For manufacturer setting
x _ _ _
PB25 _ _ _ x Model adaptive control selection
*BOP1 0: Enabled (model adaptive control)
Function 2: Disabled (PID control)
selection B-1
Refer to section 7.5 for details.
_ _ x _ For manufacturer setting
_ x _ _
x _ _ _
PB26 Select a gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
PB60].
Gain
switching
_ _ _ x Gain switching selection
function
0: Disabled
1: Switching is enabled by control command from controller (C_CDP) and Input
device CDP (Gain switching).
2: Command frequency
3: Droop pulses
4: Servo motor speed
_ _ x _ 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
_ x _ _ Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
x _ _ _ For manufacturer setting
PB27 This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed) selected in [Pr. PB26].
CDL
The set value unit differs depending on the switching condition item. (Refer to
Gain
section 7.2.3.)
switching
condition The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 65535
PB28 Set the time constant at which the gains will change in response to the conditions
set in [Pr. PB26] and [Pr. PB27].
CDT
Gain
switching Setting range: 0 to 100
time constant
Function
5 - 33
Initial
Network
value
ECT EIP
[unit]
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
10
[kpulse/s]/
[pulse]/
[r/min]
1
[ms]