Mitsubishi Electric MELSERVO-J4 Instruction Manual page 288

7. PARAMETERS
No./ Setting
symbol/name digit
PB09 This is used to set the gain of the speed loop.
VG2 Set this parameter when vibration occurs on machines of low rigidity or large
backlash. Increasing the setting value will also increase the response level but will be
Speed loop
liable to generate vibration and/or noise.
gain
The setting of the parameter will be the automatic setting or manual setting depending
on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535
PB10 Set the integral time constant of the speed loop.
VIC Decreasing the setting value will increase the response level but will be liable to
generate vibration and/or noise.
Speed
integral The setting of the parameter will be the automatic setting or manual setting depending
compensation on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0
PB11 Set the differential compensation.
VDC To enable the setting value, turn on PC (proportional control).
Speed
differential
Setting range: 0 to 1000
compensation
PB12 Set a percentage of viscous friction torque against the servo motor rated value or
thrust against the linear servo motor rated value.
OVA
When the response level is low or when the torque/thrust is limited, the efficiency of
Overshoot
the parameter may be lower.
amount
compensation
Setting range: 0 to 100
PB13 Machine resonance suppression filter 1
NH1 Set the notch frequency of the machine resonance suppression filter 1.
Machine When "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" is selected in
resonance [Pr. PB01], this parameter will be adjusted automatically.
suppression
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in
filter 1
[Pr. PB01], the setting value will be enabled.
Setting range: 10 to 4500
PB14 Set forms of the machine resonance suppression filter 1.
NHQ1 When "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" is selected in [Pr. PB01], this parameter will be
adjusted automatically.
Notch shape
selection 1 Set manually for the manual setting.
_ _ _ x For manufacturer setting
_ _ x _ Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting
PB15 Set the notch frequency of the machine resonance suppression filter 2.
NH2 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance
suppression filter 2 selection" in [Pr. PB16].
Machine
resonance
suppression
Setting range: 10 to 4500
filter 2
Function
7 - 31
Initial
Control mode
value
CP CL PS
[unit]
823
[rad/s]
33.7
[ms]
980
0
[%]
4500
[Hz]
0h
0h
0h
0h
4500
[Hz]