Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual page 166

5. PARAMETERS
No. Symbol
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
This is used to set the load to motor inertia ratio or load to motor mass ratio. Setting a value
considerably different from the actual load moment of inertia or load mass may cause an
unexpected operation such as an overshoot.
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. When the parameter is automatic
setting, the value will vary between 0.00 and 100.00.
_ _ _ 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)
PB07 PG1 Model loop gain
Set the response gain up 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) for details.
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.
_ _ _ 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)
PB08 PG2 Position loop gain
This is used to 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.
_ _ _ 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 VG2 Speed loop gain
This is used to set the gain of the speed loop.
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 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 table of [Pr. PB08] for details.
PB10 VIC Speed integral compensation
This is used to 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 the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Name and function
Pr. PA08
Pr. PA08
Pr. PA08
5 - 23
This parameter
Automatic setting
Manual setting
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
Initial
Setting
value
range
[unit]
7.00 0.00 to
Multiplier 300.00
15.0 1.0 to
[rad/s] 2000.0
37.0 1.0 to
[rad/s] 2000.0
823 20 to
[rad/s] 65535
33.7 0.1 to
[ms] 1000.0