[Pr. Pb04_Feed Forward Gain (Ffc)]; [Pr. Pb06_Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2)]; [Pr. Pb07_Model Control Gain - Mitsubishi Electric MELSERVO-J5 Series User Manual

[Pr. PB04_Feed forward gain (FFC)]

Initial value
0 [%]
Set the feed forward gain.
When "100" is set, the droop pulses are almost 0 in operation at the constant speed. If the super trace control is enabled, the
droop pulses are almost 0 in operation at uniform acceleration/deceleration, as well as at the constant speed. However, if
sudden acceleration/deceleration is performed, overshoot becomes large. When the feed forward gain is set to 100 %, set a
value not smaller than 1 s for the acceleration time constant until the rated speed is reached.
[Pr. PB06_Load to motor inertia ratio/load to motor mass ratio
(GD2)]
Initial value
7.00 [Multiplier]
Set the load to motor inertia ratio or load to motor mass ratio. Setting a value different from the actual load moment of inertia
or load mass may cause an unexpected operation such as an overshoot.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following table for details. When the servo parameter is set to automatic setting, the value varies
within the range of 0.00 to 100.00.
[Pr. PA08.0]
"0" (2 gain adjustment mode 1 (interpolation mode))
"1" (auto tuning mode 1)
"2" (auto tuning mode 2)
"3" (manual mode)
"4" (2 gain adjustment mode 2)
"5" (quick tuning mode)
"6" (load to motor inertia ratio monitor mode)
[Pr. PB07_Model control gain (PG1)]
Initial value
15.0 [rad/s]
Set the response gain to the target position.
Increasing the setting value improves responsiveness to the position command, but increasing the value too much raises the
likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0]. Refer to the
following table for details.
[Pr. PA08.0]
"0" (2 gain adjustment mode 1 (interpolation mode))
"1" (auto tuning mode 1)
"2" (auto tuning mode 2)
"3" (manual mode)
"4" (2 gain adjustment mode 2)
"5" (quick tuning mode)
"6" (load to motor inertia ratio monitor mode)
When the vibration suppression control is enabled, the settable range of [Pr. PB07 Model control gain] is limited. If [Pr. PB07]
exceeds the settable range, the vibration suppression control is disabled.
Setting range
0 to 100
Setting range
0.00 to 300.00
Setting range
1.0 to 8000.0
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Ver.
A0
Ver.
A0
Servo parameter status
Automatic setting
Manual setting
Automatic setting
Ver.
A0
Servo parameter status
Manual setting
Automatic setting
Manual setting
Automatic setting
Manual setting
1 SERVO PARAMETER DETAILS
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