[Pr. Pb59_Vibration Suppression Control 2 - Resonance Frequency Damping After Gain Switching (Vrf24B)]; [Pr. Pb60_Model Control Gain After Gain Switching (Pg1B)]; [Pr. Pb65_Gain Switching 2 Condition (Cdl2)]; [Pr. Pb66_Gain Switching 2 Time Constant (Cdt2)] - Mitsubishi Electric Melservo-Jet MR-JET-G User Manual

[Pr. PB59_Vibration suppression control 2 - Resonance
frequency damping after gain switching (VRF24B)]
Initial value
0.00
Set the damping of the resonance frequency for vibration suppression control 2 for when the gain switching is enabled.
This servo parameter is enabled in the following conditions:
• [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
• [Pr. PA24.0 Vibration suppression mode selection] is set to "1" (3 inertia mode).
• [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] is set to "2" (manual setting).
• "1" (signal (CDP/C_CDP)) is selected in [Pr. PB26.0 Gain switching selection].

[Pr. PB60_Model control gain after gain switching (PG1B)]

Initial value
0.0 [rad/s]
Set the model control gain for when the gain switching is enabled.
When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied.
This servo parameter is enabled in the following conditions:
• [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
• "1" (signal (CDP/C_CDP)) is selected in [Pr. PB26.0 Gain switching selection].
Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.

[Pr. PB65_Gain switching 2 condition (CDL2)]

Initial value
10 [Refer to the text below for the unit.]
Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26.0 Gain
switching selection].
The set value unit differs depending on the switching condition item. The units are as follows: [kpulse/s] for command
frequency, [pulse] for droop pulses, and [r/min] for servo motor speed.
If using a linear servo motor, the unit of the servo motor speed is [mm/s].
The setting value is to be larger than in [Pr. PB27 Gain switching condition].
When "0" is set, the gain is not switched to the gain switching 2.

[Pr. PB66_Gain switching 2 time constant (CDT2)]

Initial value
1 [ms]
Set the time constant until the gain switches from "gain at normal use" or "gain at switching" to "gain at switching 2" in
response to the conditions set in [Pr. PB26 Gain switching function] and [Pr. PB65 Gain switching 2 condition].
[Pr. PB67_Gain switching 2 - Load to motor inertia ratio/load to
motor mass ratio (GD2C)]
Initial value
7.00 [Multiplier]
Set the load to motor inertia ratio/load to motor mass ratio for when the gain switching 2 is enabled.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
1 SERVO PARAMETER DETAILS
50
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Setting range
0.00 to 0.30
Setting range
0.0 to 8000.0
Setting range
0 to 16777215
Setting range
0 to 100
Setting range
0.00 to 300.00
Ver.
A4
Ver.
A4
Ver.
A4
Ver.
A4
Ver.
A4