Mitsubishi Electric MELSERVO-J4 Instruction Manual page 291

7. PARAMETERS
No./ Setting
symbol/name digit
PB24 _ _ _ x Slight vibration suppression control selection
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration
1: Enabled
suppression
To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of
control
"Gain adjustment mode selection" in [Pr. PA08].
_ _ x _ For manufacturer setting
_ x _ _
x _ _ _
PB25 _ _ _ x For manufacturer setting
*BOP1
_ _ x _ Position acceleration/deceleration filter type selection
Function
Select the position acceleration/deceleration filter type.
selection B-1
0: Primary delay
1: Linear acceleration/deceleration
_ x _ _ For manufacturer setting
x _ _ _
PB26 Select the gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain
_ _ _ x Gain switching selection
switching
0: Disabled
function
1: Input device (gain switching (CDP))
2: Command frequency (Note)
3: Droop pulses
4: Servo motor speed/linear servo motor speed
Note. This will be a frequency of the servo motor side (load side for the fully closed loop
_ _ x _ Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_ x _ _ For manufacturer setting
x _ _ _
PB27 This is used to set the value of gain switching (command frequency, droop pulses, and
servo motor speed/linear servo motor speed) selected in [Pr. PB26].
CDL
The set value unit differs depending on the switching condition item. (Refer to
Gain
"MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 7.2.3.)
switching
condition The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 9999
PB28 Set the time constant at which the gains will change in response to the conditions set
in [Pr. PB26] and [Pr. PB27].
CDT
Gain
switching time Setting range: 0 to 100
constant
PB29 Set the load to motor inertia ratio/load to motor mass ratio for when gain switching is
enabled.
GD2B
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
Load to motor
adjustment mode selection" in [Pr. PA08].
inertia
ratio/load to
motor mass
Setting range: 0.00 to 300.00
ratio after
gain switching
PB30 Set the position loop gain for when the gain switching is enabled.
PG2B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
Position loop This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain
gain after gain adjustment mode selection" in [Pr. PA08].
switching
Setting range: 0.0 to 2000.0
control) command pulse unit.
Function
7 - 34
Initial
Control mode
value
CP CL PS
[unit]
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
10
[kpulse/s]/
[pulse]/
[r/min]
1
[ms]
7.00
[Multipli
er]
0.0
[rad/s]