Servo Parameters That Are Changeable With The Gain Switching - Mitsubishi Electric MELSERVO J5 Series User Manual

[Pr. PB28 Gain switching time constant], [Pr. PB66 Gain switching 2 time constant]
The primary delay filter can be set to each gain in gain switching. If the gain difference is large in gain switching, use these
parameters for such as suppressing shock given to the machine.

Servo parameters that are changeable with the gain switching

Control gain
Load to motor inertia ratio/load
to motor mass ratio
Model control gain
Position control gain
Speed control gain
Speed integral compensation
Vibration suppression control 1 -
Vibration frequency
Vibration suppression control 1 -
Resonance frequency
Vibration suppression control 1 -
Vibration frequency damping
Vibration suppression control 1 -
Resonance frequency damping
Vibration suppression control 2 -
Vibration frequency
Vibration suppression control 2 -
Resonance frequency
Vibration suppression control 2 -
Vibration frequency damping
Vibration suppression control 2 -
Resonance frequency damping
[Pr. PB06] to [Pr. PB10]
These servo parameters are the same as in the ordinary manual adjustment. Switching the gains enables the values to be
switched in load to motor inertia ratio, position control gain, model control gain, speed control gain, and speed integral
compensation.
[Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These servo parameters are the same as in the ordinary manual adjustment. During a servo motor stop, by switching the gain
with on/off of the input device (CDP) or the control command from the controller, the values are enabled to be switched in the
vibration frequency, resonance frequency, vibration frequency damping setting, and resonance frequency damping setting.
[Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching], [Pr.
PB67 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set the same value as
[Pr. PB06 Load to motor inertia ratio].
[Pr. PB30 Position control gain after gain switching], [Pr. PB68 Gain switching 2 -
Position control gain]
Set the position control gain after gain switching.
[Pr. PB31 Speed control gain after gain switching], [Pr. PB69 Gain switching 2 - Speed
control gain]
Set the speed control gain after gain switching.
5 GAIN SWITCHING FUNCTION
76
5.5 Setting method for gain switching
Before gain switching
Servo parameter Symbol
PB06 GD2
PB07 PG1
PB08 PG2
PB09 VG2
PB10 VIC
PB19 VRF11
PB20 VRF12
PB21 VRF13
PB22 VRF14
PB52 VRF21
PB53 VRF22
PB54 VRF23
PB55 VRF24
After gain switching
Servo parameter Symbol
PB29 GD2B
PB60 PG1B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB33 VRF1B
PB34 VRF2B
PB35 VRF3B
PB36 VRF4B
PB56 VRF21B
PB57 VRF22B
PB58 VRF23B
PB59 VRF24B
After gain switching 2
Servo parameter Symbol
PB67 GD2C
PB79 PG1C
PB68 PG2C
PB69 VG2C
PB70 VICC
PB71 VRF1C
PB72 VRF2C
PB73 VRF3C
PB74 VRF4C
PB75 VRF21C
PB76 VRF22C
PB77 VRF23C
PB78 VRF24C