[Pr. Pb29_Gain Switching - Load To Motor Inertia Ratio/Load To Motor Mass Ratio (Gd2B)]; [Pr. Pb30_Gain Switching - Position Control Gain (Pg2B)]; [Pr. Pb31_Gain Switching - Speed Control Gain (Vg2B)]; [Pr. Pb32_Gain Switching - Speed Integral Compensation (Vicb)] - Mitsubishi Electric MELSERVO MR-J5W-B Series User Manual

[Pr. PB29_Gain switching - Load to motor inertia ratio/load to
motor mass ratio (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_Gain switching - Position control gain (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_Gain switching - Speed control gain (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).

[Pr. PB32_Gain switching - Speed integral compensation (VICB)]

Initial value
0.0 [ms]
Set the speed integral compensation for when the gain switching 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.
The setting value of this servo parameter is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual
mode).
[Pr. PB33_Gain switching - Vibration suppression control 1 -
Vibration frequency (VRF11B)]
Initial value
0.0 [Hz]
Set the vibration frequency of vibration suppression control 1 for when the gain switching 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).
• "1" (control command from the controller) is selected in [Pr. PB26.0 Gain switching selection].
Switching gains during driving may cause a shock. Switch the gains after the servo motor has stopped.
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
Setting range
0.0 to 300.0
Setting method
Each axis
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.
C4
Ver.
C4
Ver.
C4
Ver.
C4
Ver.
C4
1
45