Mitsubishi MR-JE-200A Instruction Manual page 301

7. PARAMETERS
No./symbol/ Setting
name digit
PB03
PST
Position
command
acceleration/
deceleration
time constant
(position
smoothing)
PB04
FFC
Feed forward
gain
PB06
GD2
Load to motor
inertia ratio
Set the constant of a primary delay to the position command.
You can select a control method from "Primary delay" or "Linear
acceleration/deceleration" of "Position acceleration/deceleration filter type selection"
in [Pr. PB25]. The setting range of "Linear acceleration/deceleration" is 0 ms to 10
ms. Setting of longer than 10 ms will be recognized as 10 ms.
(Example) When a command is given from a synchronous encoder, a synchronous
operation will start smoothly even if it starts during line operation.
Without time
constant setting
Servo motor
Start
Setting range: 0 to 65535
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 more for the
acceleration time constant to the rated speed.
Setting range: 0 to 100
Set the load to motor inertia ratio.
Setting a value considerably different from the actual load moment of inertia may
cause an unexpected operation such as an overshoot.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details. When the parameter is set to
automatic, the value will vary between 0.00 and 100.00.
Setting range: 0.00 to 300.00
Pr. PA08
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)
Function
Synchronizing
encoder
Start
Servo motor
Servo amplifier
With time
constant setting
speed
ON
OFF
This parameter
Automatic setting
Manual setting
7 - 26
t
[times]
Control
Initial
mode
value
[unit]
CP CL
0
[ms]
0
[%]
7.00