Mitsubishi Electric MELSERVO-JE MR-JE-70A Instruction Manual page 149

5. PARAMETERS
No./ Setting
symbol/name digit
PB24 _ _ _ x Slight vibration suppression control selection
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration
1: Enabled
suppression
To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of
control
"Gain adjustment mode selection" in [Pr. PA08]. Slight vibration suppression control
cannot be used in the speed control mode.
_ _ x _ For manufacturer setting
_ x _ _
x _ _ _
PB25 _ _ _ x For manufacturer setting
*BOP1
_ _ x _ Position acceleration/deceleration filter type selection
Function
Select the position acceleration/deceleration filter type.
selection B-1
0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control mode.
Doing so will cause the servo motor to make a sudden stop at the time of control
mode switching.
_ x _ _ For manufacturer setting
x _ _ _
PB26 Select the gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain
_ _ _ x Gain switching selection
switching
0: Disabled
function
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed
_ _ x _ Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_ x _ _ For manufacturer setting
x _ _ _
PB27 This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed) selected in [Pr. PB26].
CDL
The set value unit differs depending on the switching condition item. (Refer to
Gain
section 7.2.3.)
switching
condition
Setting range: 0 to 9999
PB28 This is used to set the time constant at which the gains will change in response to
the conditions set in [Pr. PB26] and [Pr. PB27].
CDT
Gain
switching Setting range: 0 to 100
time constant
PB29 This is used to set the load to motor inertia ratio when gain switching is enabled.
GD2B This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
adjustment mode selection" in [Pr. PA08].
Load to motor
inertia ratio
after gain
Setting range: 0.00 to 300.00
switching
PB30 Set the position loop gain when the gain switching is enabled.
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
Gain This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
switching adjustment mode selection" in [Pr. PA08].
position loop
gain
Setting range: 0.0 to 2000.0
Function
5 - 22
Initial Control mode
value
P S T
[unit]
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
10
[kpulse/s]
/[pulse]
/[r/min]
1
[ms]
7.00
[Multipli
er]
0.0
[rad/s]