Mitsubishi MR-JE-10A Instruction Manual page 225

7. SPECIAL ADJUSTMENT FUNCTIONS
Parameter Symbol
PB28 CDT Gain switching time constant
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain
switching
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain
switching
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after
gain switching
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping
after gain switching
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain
switching
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after
gain switching
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping
after gain switching
(b) Switching timing chart
Model loop gain
Load to motor inertia ratio
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
Name
CDP (gain switching)
Before-switching gain
Gain switching
OFF
CDT = 100 ms
100 →
4.00 →
120 →
3000 →
20 →
50 →
50 →
0.20 →
0.20 →
20 →
20 →
0.10 →
0.10 →
7 - 18
Setting value
100
60
60
0.15
0.15
30
30
0.05
0.05
ON
After-switching gain
63.4%
50 →
10.00 →
84 →
4000 →
50 →
60 →
60 →
0.15 →
0.15 →
30 →
30 →
0.05 →
0.05 →
Unit
[ms]
[Hz]
[Hz]
[Hz]
[Hz]
OFF
100
4.00
120
3000
20
50
50
0.20
0.20
20
20
0.10
0.10