Mitsubishi Electric MR-J4 Instruction Manual page 307

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Switchable gain parameter
Loop gain
Load to motor inertia ratio/
load to motor mass ratio
Model loop gain
Position loop gain
Speed loop gain
Speed integral
compensation
Vibration suppression
control 1 - Vibration
frequency
Vibration suppression
control 1 - Resonance
frequency
Vibration suppression
control 1 - Vibration
frequency damping
Vibration suppression
control 1 - Resonance
frequency damping
Vibration suppression
control 2 - Vibration
frequency
Vibration suppression
control 2 - Resonance
frequency
Vibration suppression
control 2 - Vibration
frequency damping
Vibration suppression
control 2 - Resonance
frequency damping
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to
be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.
Before switching
Parameter Symbol
PB06 GD2 Load to motor inertia ratio/
load to motor mass ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral
compensation
PB19 VRF11 Vibration suppression
control 1 - Vibration
frequency
PB20 VRF12 Vibration suppression
control 1 - Resonance
frequency
PB21 VRF13 Vibration suppression
control 1 - Vibration
frequency damping
PB22 VRF14 Vibration suppression
control 1 - Resonance
frequency damping
PB52 VRF21 Vibration suppression
control 2 - Vibration
frequency
PB53 VRF22 Vibration suppression
control 2 - Resonance
frequency
PB54 VRF23 Vibration suppression
control 2 - Vibration
frequency damping
PB55 VRF24 Vibration suppression
control 2 - Resonance
frequency damping
Name Parameter
PB29
PB60
PB30
PB31
PB32
PB33
PB34
PB35
PB36
PB56
PB57
PB58
PB59
7 - 18
After switching
Symbol Name
GD2B Load to motor inertia ratio/
load to motor mass ratio
PG1B Model loop gain after gain
switching
PG2B Position loop gain after
gain switching
VG2B Speed loop gain after gain
switching
VICB Speed integral
compensation after gain
switching
VRF11B Vibration suppression
control 1 - Vibration
frequency after gain
switching
VRF12B Vibration suppression
control 1 - Resonance
frequency after gain
switching
VRF13B Vibration suppression
control 1 - Vibration
frequency damping after
gain switching
VRF14B Vibration suppression
control 1 - Resonance
frequency damping after
gain switching
VRF21B Vibration suppression
control 2 - Vibration
frequency after gain
switching
VRF22B Vibration suppression
control 2 - Resonance
frequency after gain
switching
VRF23B Vibration suppression
control 2 - Vibration
frequency damping after
gain switching
VRF24B Vibration suppression
control 2 - Resonance
frequency damping after
gain switching