Mitsubishi Electric MELSERVO-JN Series Instruction Manual page 124

4. PARAMETERS
No. Symbol
PB26 *CDP Gain changing [Applied]
Select the gain changing condition. (Refer to section 7.3.)
0
Gain changing condition [Applied]
PB27 CDL
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in parameter
No. PB26. The set value unit varies depending on the changing
condition item. (Refer to section 7.3.)
Gain changing time constant [Applied]
PB28 CDT
Used to set the time constant at which the gains change in response
to the conditions set in parameters No. PB26 and PB27. (Refer to
section 7.3.)
PB29 GD2B Gain changing load to motor inertia moment ratio [Applied]
Used to set the load to motor inertia moment ratio when gain
changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08:
PB30 PG2B Gain changing position loop gain [Applied]
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08:
PB31 VG2B Gain changing speed loop gain [Applied]
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08:
PB32 VICB Gain changing speed integral compensation [Applied]
Set the speed integral compensation when the gain changing is valid.
This parameter is made valid when the auto tuning mode is invalid
(parameter No. PA08:
PB33 VRF1B Gain changing vibration suppression control vibration frequency
setting [Applied]
Set the vibration frequency for vibration suppression control when the
gain changing is valid. This parameter is made valid when parameter
No. PB02 is set to "
When using the vibration suppression control gain changing, always
execute the changing after the servo motor has stopped.
Name and function
Gain changing selection
Under any of the following conditions, the gains
change on the basis of parameter No. PB29 to
PB34 settings.
0: Invalid
1: Input device (gain changing (CDP))
2: Command frequency (parameter No.PB27 setting)
3: Droop pulse (parameter No.PB27 setting)
4: Servo motor speed (parameter No.PB27 setting)
Gain changing condition
0: Valid when the input device (gain changing (CDP)) is
ON, or valid when the value is equal to or larger than
the value set in parameter No. PB27.
1: Valid when the input device (gain changing (CDP)) is
OFF, or valid when the value is equal to or smaller
than the value set in parameter No. PB27.
3).
3).
3).
3).
2" and parameter No. PB26 is set to "
Initial
value
000h Refer to
10
1
7.0
37
823
33.7
100.0
1".
4 - 27
Control mode
Setting
Unit
Internal
range
Position
speed
name
and
function
column.
0 kpps
to pulse
9999 r/min
0
ms
to
100
0.0 Multiplier
to
300.0
1 rad/s
to
2000
20 rad/s
to
50000
0.1 ms
to
5000.0
0.1 Hz
to
100.0
Internal
torque