[Pr. Pb68_Gain Switching 2 - Position Control Gain (Pg2C)]; [Pr. Pb69_Gain Switching 2 - Speed Control Gain (Vg2C)]; [Pr. Pb70_Gain Switching 2 - Speed Integral Compensation (Vicc)]; [Pr. Pb71_Vibration Suppression Control 1 - Vibration Frequency After Gain Switching 2 (Vrf11C)] - Mitsubishi Electric MELSERVO-J5 MR-J5-G User Manual

[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).
[Pr. PB71_Vibration suppression control 1 - Vibration frequency
after gain switching 2 (VRF11C)]
Initial value
0.0 [Hz]
Set the vibration frequency of vibration suppression control 1 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. PB19 Vibration suppression control
1 - Vibration frequency] is applied.
This servo parameter is enabled in the following conditions:
• [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode).
• [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] is set to "2" (manual setting).
• [Pr. PB26.0 Gain switching selection] is set to "1" (signal (CDP/C_CDP)), and [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]). Or, "1" (signal (CDP2/C_CDP2)) is selected in [Pr.
PB26.4].
Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.
Setting range
0.0 to 2000.0
Setting range
0 to 65535
Setting range
0.0 to 5000.0
Setting range
0.0 to 300.0
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
1 SERVO PARAMETER DETAILS
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Ver.
A0
Ver.
A0
Ver.
A0
Ver.
A0
1
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