Gain Switching Procedure - Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.4 Gain switching procedure

This operation will be described by way of setting examples.
(1) When you choose switching by input device (CDP)
(a) Setting example
Parameter
PB06
PB07
PB08
PB09
PB10
PB19
PB20
PB21
PB22
PB52
PB53
PB54
PB55
PB29
PB60
PB30
PB31
PB32
PB26
PB28
PB33
PB34
PB35
PB36
PB56
PB57
PB58
PB59
Symbol
GD2 Load to motor inertia ratio/load to motor
mass ratio
PG1 Model loop gain
PG2 Position loop gain
VG2 Speed loop gain
VIC Speed integral compensation
VRF11 Vibration suppression control 1 - Vibration
frequency
VRF12 Vibration suppression control 1 -
Resonance frequency
VRF13 Vibration suppression control 1 - Vibration
frequency damping
VRF14 Vibration suppression control 1 -
Resonance frequency damping
VRF21 Vibration suppression control 2 - Vibration
frequency
VRF22 Vibration suppression control 2 -
Resonance frequency
VRF23 Vibration suppression control 2 - Vibration
frequency damping
VRF24 Vibration suppression control 2 -
Resonance frequency damping
GD2B Load to motor inertia ratio/load to motor
mass ratio after gain switching
PG1B Model loop gain after gain switching
PG2B Position loop gain after gain switching
VG2B Speed loop gain after gain switching
VICB Speed integral compensation after gain
switching
CDP Gain switching function
CDT Gain switching time constant
VRF1B Vibration suppression control 1 - Vibration
frequency after gain switching
VRF2B Vibration suppression control 1 -
Resonance frequency after gain switching
VRF3B Vibration suppression control 1 - Vibration
frequency damping after gain switching
VRF4B Vibration suppression control 1 -
Resonance frequency damping after gain
switching
VRF21B Vibration suppression control 2 - Vibration
frequency after gain switching
VRF22B Vibration suppression control 2 -
Resonance frequency after gain switching
VRF23B Vibration suppression control 2 - Vibration
frequency damping after gain switching
VRF24B Vibration suppression control 2 -
Resonance frequency damping after gain
switching
7 - 21
Name
(Switch by input device
(CDP) on/off.)
Setting value Unit
4.00 [Multiplier]
100 [rad/s]
120 [rad/s]
3000 [rad/s]
20 [ms]
50 [Hz]
50 [Hz]
0.20
0.20
20 [Hz]
20 [Hz]
0.10
0.10
10.00 [Multiplier]
50 [rad/s]
84 [rad/s]
4000 [rad/s]
50 [ms]
0001
100 [ms]
60 [Hz]
60 [Hz]
0.15
0.15
30 [Hz]
30 [Hz]
0.05
0.05