[Pr. Pb65_Gain Switching 2 Condition (Cdl2)]; [Pr. Pb66_Gain Switching 2 Time Constant (Cdt2)]; [Pr. Pb67_Gain Switching 2 - Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2C)]; [Pr. Pb68_Gain Switching 2 - Position Control Gain (Pg2C)] - Mitsubishi Electric MELSERVO-J5 Series User Manual

[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).

[Pr. PB68_Gain switching 2 - Position control gain (PG2C)]

Initial value
0.0 [rad/s]
Set the position control gain for when the gain switching 2 is enabled.
When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB08 Position control gain] is
applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).

[Pr. PB69_Gain switching 2 - Speed control gain (VG2C)]

Initial value
0 [rad/s]
Set the speed control gain for when the gain switching 2 is enabled.
When the setting value of this servo parameter is less than "20", the setting value of [Pr. PB09 Speed control gain] is applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
[Pr. PB70_Gain switching 2 - Speed integral compensation
(VICC)]
Initial value
0.0 [ms]
Set the speed integral compensation for when the gain switching 2 is enabled.
When the setting value of this servo parameter is less than "0.1", the setting value of [Pr. PB10 Speed integral compensation]
is applied.
This servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
Setting range
0 to 16777215
Setting range
0 to 100
Setting range
0.00 to 300.00
Setting range
0.0 to 2000.0
Setting range
0 to 65535
Setting range
0.0 to 5000.0
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Ver.
A0
Ver.
A0
Ver.
A0
Ver.
A0
Ver.
A0
Ver.
A0
1 SERVO PARAMETER DETAILS
1
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