Mitsubishi Electric MELSERVO-J3 Series Manual page 333

Part 5: Common Reference Material
(c) 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.
1) Parameter for setting gain switching condition
Parameter Symbol
PB26 CDP Gain switching selection
PB27 CDL Gain switching condition
PB28 CDT Gain switching time constant
a) [Pr. PB26 Gain switching function]
Used to set the gain switching condition. Select the switching condition in the first to third
digits.
b) [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.
c) [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
[kpulse/s]
/[pulse]
/[r/min]
[ms]
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed
Gain switching condition
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
Gain switching condition
Command frequency
Droop pulses
Servo motor speed/linear servo motor speed
5 - 148
Description
Select a switching condition.
Set a switching condition values.
Set the filter time constant for a gain change at switching.
[kpulse/s]
[pulse]
[r/min]/[mm/s]
Unit