Mitsubishi Electric MELSERVO-J3 Series Manual page 336

Part 5: Common Reference Material
(d) Gain switching procedure
This operation will be described by way of setting examples.
1) When you choose switching by control command from the controller
a) Setting example
Parameter Symbol
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
PB19 VRF11 Vibration suppression control 1 - Vibration frequency
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
PX04 VRF21 Vibration suppression control 2 - Vibration frequency
PX05 VRF22 Vibration suppression control 2 - Resonance frequency
PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping
PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain
switching
PX12 PG1B Model loop gain after gain switching
PB30 PG2B Position loop gain after gain switching
PB31 VG2B Speed loop gain after gain switching
PB32 VICB Speed integral compensation after gain switching
PB26 CDP Gain switching function
PB28 CDT Gain switching time constant
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain
switching
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain
switching
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after
gain switching
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping
after gain switching
PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain
switching
PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain
switching
PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after
gain switching
PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping
after gain switching
Name
5 - 151
Setting value Unit
4.00 [Multiplier]
100 [rad/s]
120 [rad/s]
3000 [rad/s]
20 [ms]
50 [Hz]
50 [Hz]
0.20
0.20
20 [Hz]
20 [Hz]
0.10
0.10
10.00 [Multiplier]
50 [rad/s]
84 [rad/s]
4000 [rad/s]
50 [ms]
0001
(Switch by control
command from
the controller.)
100 [ms]
60 [Hz]
60 [Hz]
0.15
0.15
30 [Hz]
30 [Hz]
0.05
0.05