Gain/Filter Setting Parameters ([Pr. Pb_ _ ]) - Mitsubishi MR-JE-10B Instruction Manual

5. PARAMETERS

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

No. Symbol
PB01 FILT Adaptive tuning mode (adaptive filter II)
Set the adaptive tuning.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
Set the vibration suppression control tuning. Refer to section 7.1.5 for details.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PB03 TFBGN Torque feedback loop gain
Set a torque feedback loop gain in the continuous operation to torque control mode.
Decreasing the setting value will also decrease a collision load during continuous operation to
torque control mode.
Setting a value of 6 rad/s or smaller will apply 6 rad/s.
PB04 FFC Feed forward gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during operation at constant speed are nearly
zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline,
when the feed forward gain setting is 100%, set 1 s or longer as the acceleration time constant
up to the rated speed.
Name and function
Explanation
Filter tuning mode selection
Select the adjustment mode of the machine resonance suppression
filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
For manufacturer setting
Tuning accuracy selection
0: Standard
1: High accuracy
The frequency is estimated more accurately in the high accuracy
mode compared to the standard mode. However, the tuning sound
may be larger in the high accuracy mode.
This digit is available with servo amplifier with software version C5
or later.
Explanation
Vibration suppression control 1 tuning mode selection
Select the tuning mode of the vibration suppression control 1.
0: Disabled
1: Automatic setting
2: Manual setting
Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression control 2. To
enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration
suppression mode selection" in [Pr. PA24 Function selection A-4].
0: Disabled
1: Automatic setting
2: Manual setting
For manufacturer setting
5 - 18
Initial
Setting
value
range
[unit]
Refer to the
"Name and
function" column.
Initial
value
0h
0h
0h
0h
Refer to the
"Name and
function" column.
Initial
value
0h
0h
0h
0h
18000 0 to
[rad/s] 18000
0 0 to 100
[%]