Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual page 232

5. PARAMETERS
No./symbol/ Setting
name digit
PB08 Set the gain of the position loop.
PG2 Set this parameter to increase the position response to level load disturbance.
Position loop Increasing the setting value will also increase the response level to the load
gain 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
_ _ _ 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)
PB09 Set the gain of the speed loop.
VG2 Set this parameter when vibration occurs on machines of low rigidity or large
backlash. Increasing the setting value will also increase the response level but will
Speed loop
be liable to generate vibration and noise.
gain
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535
PB10 Set the integral time constant of the speed loop.
VIC Decreasing the setting value will increase the response level but will be liable to
generate vibration and noise.
Speed
integral The setting of the parameter will be the automatic setting or manual setting
compensation depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0
PB11 Set the differential compensation.
VDC To enable the setting value, turn on PC (proportional control).
Speed
differential
compensation Setting range: 0 to 1000
PB12 Set a viscous friction torque in percentage to the rated torque at servo motor rated
speed. Or, set a percentage of viscous friction force against the continuous thrust at
OVA
linear servo motor rated speed.
Overshoot
When the response level is low or when the torque/thrust is limited, the efficiency of
amount
the parameter may be lower.
compensation
Setting range: 0 to 100
PB13 Set the notch frequency of the machine resonance suppression filter 1.
NH1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB01], this parameter will be adjusted automatically by adaptive tuning.
Machine
resonance When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],
suppression the setting value will be enabled.
filter 1
Setting range: 10 to 4500
Function
Pr. PA08
5 - 29
This parameter
Automatic setting
Manual setting
Automatic setting
Control
Initial
mode
value
[unit]
P S T
37.0
[rad/s]
823
[rad/s]
33.7
[ms]
980
0
[%]
4500
[Hz]