Mitsubishi Electric MELSERVO-J3W Series Instruction Manual page 137

7. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No.PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of load
to motor inertia moment ratio, position loop gain, speed loop gain and speed integral compensation to be
changed.
(2) Gain changing load to motor inertia moment ratio (GD2B: parameter No.PB29)
Set the load to motor inertia moment ratio after changing. If the load inertia moment ratio does not change,
set it to the same value as load to motor inertia moment ratio (parameter No.PB06).
(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter
No.PB31), Gain changing speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.
(4) Gain changing selection (parameter No.PB26)
Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the control command from controller is valid for gain changing.
(5) Gain changing condition (parameter No.PB27)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection
(parameter No.PB26), set the gain changing level.
The setting unit is as follows.
(6) Gain changing time constant (parameter No.PB28)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock
given to the machine if the gain difference is large at gain changing, for example.
(7) Gain changing vibration suppression control
Control command from the controller is the only command for the gain changing vibration suppression
control.
0 0
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB34 settings.
0: Invalid
1: Control command from controller is valid
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulses (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain changing condition
0: Valid when the control instruction from a controller is ON
Valid at equal to or more than the value set in parameter No.PB27
1: Valid when the control instruction from a controller is OFF
Valid at equal to or less than the value set in parameter No.PB27
Gain changing condition
Command frequency
Droop pulses
Servo motor speed
7 - 8
Unit
kpps
pulse
r/min