Mitsubishi Electric MR-J4 Instruction Manual page 230

5. PARAMETERS
No./symbol/ Setting
name digit
PB29 This is used to set the load to motor inertia ratio/load to motor mass ratio when gain
switching is enabled.
GD2B
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
Load to motor
mode (_ _ _ 3)" in [Pr. PA08].
inertia ratio/
load to motor
mass ratio
Setting range: 0.00 to 300.00
after gain
switching
PB30 Set the position loop gain when the gain switching is enabled.
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
Position loop This parameter is enabled only when "Gain adjustment mode selection" is "Manual
gain after mode (_ _ _ 3)" in [Pr. PA08].
gain
switching
Setting range: 0.0 to 2000.0
PB31 Set the speed loop gain when the gain switching is enabled.
VG2B When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
Speed loop This parameter is enabled only when "Gain adjustment mode selection" is "Manual
gain after mode (_ _ _ 3)" in [Pr. PA08].
gain
switching
Setting range: 0 to 65535
PB32 Set the speed integral compensation when the gain changing is enabled.
VICB When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].
Speed This parameter is enabled only when "Gain adjustment mode selection" is "Manual
integral mode (_ _ _ 3)" in [Pr. PA08].
compensation
after gain
Setting range: 0.0 to 5000.0
switching
PB33 Set the vibration frequency for vibration suppression control 1 when the gain
switching is enabled.
VRF1B
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
Vibration
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 1 -
Vibration
frequency
after gain
switching
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Setting range: 0.0 to 300.0
PB34 Set the resonance frequency for vibration suppression control 1 when the gain
switching is enabled.
VRF2B
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20].
Vibration
suppression This parameter will be enabled only when the following conditions are fulfilled.
control 1 -
Resonance
frequency
after gain
switching
Switching during driving may cause a shock. Be sure to switch them after the servo
motor or linear servo motor stops.
Setting range: 0.0 to 300.0
PB35 Set a damping of the vibration frequency for vibration suppression control 1 when
the gain switching is enabled.
VRF3B
This parameter will be enabled only when the following conditions are fulfilled.
Vibration
suppression
control 1 -
Vibration
frequency
damping after
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor or linear servo motor stops.
Setting range: 0.00 to 0.30
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual
setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_
_ _ 1)".
Function
5 - 31
Control
Initial
mode
value
[unit]
P S T
7.00
[Multiplier]
0.0
[rad/s]
0
[rad/s]
0.0
[ms]
0.0
[Hz]
0.0
[Hz]
0.00