Parameter - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr.
PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
Parameter for setting gain switching condition
Parameter Symbol
PB26 CDP
PB27 CDL
PB28 CDT
■[Pr. PB26 Gain switching function]
Used to set the gain switching condition. Select the switching condition in the first to third digits.
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Switching is enabled by control command from controller
and Input device CDP (Gain switching)
2: Command frequency
3: Droop pulses
4: Servo motor speed
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
■[Pr. PB27 Gain switching condition]
Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or "Servo motor speed" with
the gain switching selection in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition
Command frequency
Droop pulses
Servo motor speed
■[Pr. PB28 Gain switching time constant]
You can set the primary delay filter to each gain at gain switching. This parameter is used to suppress shock given to the
machine if the gain difference is large at gain switching, for example.
Name Unit
Gain switching function 
Gain switching condition [kpulse/s]/[pulse]/[r/min]
Gain switching time constant [ms]
Description
Used to select the changing condition.
Used to set the changing condition values.
Set the filter time constant for a gain change at
changing.
Unit
[kpulse/s]
[pulse]
[r/min]/[mm/s]
7 SPECIAL ADJUSTMENT FUNCTIONS
7.2 Gain switching function
7
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