[Pr. Pb27_Gain Switching Condition (Cdl)]; [Pr. Pb28_Gain Switching Time Constant (Cdt)]; [Pr. Pb29_Load To Motor Inertia Ratio/Load To Motor Mass Ratio After Gain Switching (Gd2B)]; [Pr. Pb30_Position Control Gain After Gain Switching (Pg2B)] - Mitsubishi Electric MELSERVO-J5 MR-J5-G User Manual

[Pr. PB26.5_Gain switching selection during a stop]
Initial value
0h
0: Gain switching 2 during a stop is disabled
1: Gain switching 2 during a stop is enabled
This servo parameter is enabled in the following condition: [Pr. PB26.4 Gain switching 2 selection] is set to "2" (the same
condition as [Pr. PB26.0 Gain switching selection]) and [Pr. PB26.0] is set to "5" (command direction) in the position mode.

[Pr. PB27_Gain switching condition (CDL)]

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 Gain
switching function].
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].

[Pr. PB28_Gain switching time constant (CDT)]

Initial value
1 [ms]
Set the time constant until the gain switches in response to the conditions set in [Pr. PB26 Gain switching function] and [Pr.
PB27 Gain switching condition].
[Pr. PB29_Load to motor inertia ratio/load to motor mass ratio
after gain switching (GD2B)]
Initial value
7.00 [Multiplier]
Set the load to motor inertia ratio/load to motor mass ratio for when gain switching is enabled.
The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual
mode).

[Pr. PB30_Position control gain after gain switching (PG2B)]

Initial value
0.0 [rad/s]
Set the position control gain for when the gain switching 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.
The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual
mode).

[Pr. PB31_Speed control gain after gain switching (VG2B)]

Initial value
0 [rad/s]
Set the speed control gain for when the gain switching 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.
The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual
mode).
1 SERVO PARAMETER DETAILS
46
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Setting range
Refer to the text
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
Ver.
A0
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Ver.
A0
Ver.
A0
Ver.
A0
Ver.
A0
Ver.
A0