Mitsubishi MR-JE-200A Instruction Manual page 302

7. PARAMETERS
No./symbol/ Setting
name digit
PB07
PG1
Model loop
gain
PB08
PG2
Position loop
gain
PB09
VG2
Speed loop
gain
PB10
VIC
Speed
integral
compensation
PB11
VDC
Speed
differential
compensation
Set the response gain to the target position.
Increasing the setting value will also increase the response level to the position
command but will be liable to generate vibration and noise.
For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is
limited. Refer to section 7.1.5 (4) of "MR-JE-_A Servo Amplifier Instruction Manual"
for details.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details.
Setting range: 1.0 to 2000.0
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)
Set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load
disturbance but will be liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.
Setting range: 1.0 to 2000.0
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)
Set the gain of the speed loop.
Set this parameter when vibration occurs on machines of low rigidity or with large
backlash. Increasing the setting value will also increase the response level but will
be liable to generate vibration and noise.
The setting of the parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535
Set the integral time constant of the speed loop.
Decreasing the setting value will increase the response level but will be liable to
generate vibration and noise.
The setting of the parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0
Set the differential compensation.
To enable the setting value, turn on PC (proportional control).
Setting range: 0 to 1000
Function
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
7 - 27
Control
Initial
mode
value
[unit]
CP CL
15.0
[rad/s]
37.0
[rad/s]
823
[rad/s]
33.7
[ms]
980