Mitsubishi Electric MELSERVO-J3 Series Manual page 174

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B
No. Name and function
PB26 Gain changing selection
Select the gain changing condition.
0 0 _ x:
Gain changing selection
Under any of the following conditions, the gains change
on the basis of the [Pr. PB29 to PB34] settings.
0: Invalid
1: Control instructions from a controller.
2: Command frequency ([Pr. PB27] setting)
3: Droop pulses value ([Pr. PB27] setting)
4: Servo motor speed ([Pr. PB27] setting)
0 0 x _ :
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 [Pr.
PB27]
1: Valid when the control instruction from a controller is
OFF
Valid at equal to or less than the value set in [Pr.
PB27]
PB27 Gain changing condition
Used to set the value of gain changing condition
(command frequency, droop pulses, servo motor speed)
selected in [Pr. PB26]. The set value unit changes with
the changing condition item.
PB28 Gain changing time constant
Used to set the time constant at which the gains will
change in response to the conditions set in [Pr. PB26]
and [Pr. PB27].
PB29 Gain changing load to motor inertia moment ratio
Used to set the load to motor inertia moment ratio when
gain changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
PB30 Gain changing position loop gain
This parameter cannot be used in the speed control
mode.
Set the position loop gain when the gain changing is
valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
PB31 Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
MR-J3W-_B
Initial
No.
value
0000h PB26 Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in
[Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
_ _ _ x:
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
_ _ x _ :
Gain switching condition selection
0: Gain after switching is enabled with gain switching
condition or more
1: Gain after switching is enabled with gain switching
condition or less
_ x _ _ :
Gain switching time constant disabling condition
selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
This parameter is used by servo amplifier with software
version B4 or later.
x _ _ _ :
For manufacturer setting
10 PB27 Gain switching condition
Set a value of gain switching (command frequency,
droop pulses, and servo motor speed/linear servo motor
speed) selected in [Pr. PB26].
The set value unit differs depending on the switching
condition item.
1 PB28 Gain switching time constant
Set the time constant until the gains switch in response
to the conditions set in [Pr. PB26] and [Pr. PB27].
7.0 PB29 Load to motor inertia ratio/load to motor mass ratio after
gain switching
Set a load to motor inertia ratio/load to motor mass ratio
for when gain switching is enabled.
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
37 PB30 Position loop gain after gain switching
Set the position loop gain when the gain switching is
enabled.
When you set a value less than 1.0 rad/s, the value will
be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
823 PB31 Speed loop gain after gain switching
Set the speed loop gain when the gain switching is
enabled.
When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
4 - 31
MR-J4W2-_B
Name and function
Initial
value
0h
0h
0h
0h
10
1
7.00
0.0
0