Restrictions On Gain Switching [A]; Precautions On Gain Switching; Setting Method For Gain Switching; Servo Parameters For Setting The Gain Switching Condition - Mitsubishi Electric MR-J5 User Manual

5.3

Restrictions on gain switching [A]

• When [Pr. PA08.0 Gain adjustment mode selection] is set to a value other than "3" (manual mode), the gain switching
cannot be used.
• Gain switching vibration suppression control ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]) and [Pr. PB60 Gain
switching - Model control gain] can be used when the input device (CDP) is turned on.
• Gain switching 2 vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain
switching 2 - Model control gain] can be used when the input device (CDP2) is turned on.
• Gain switching is enabled only in the position mode when the command direction is selected for gain switching and gain
switching during a stop is enabled.
• Slight vibration suppression control does not allow switching of the load to motor inertia ratio/load to motor mass ratio, the
model control gain, the position control gain, the speed control gain, and the speed integral compensation.
5.4

Precautions on gain switching

• If the gain difference is too large at gain switching, and the value in [Pr. PB28 Gain switching time constant] is too small, the
machine may operate unexpectedly at gain switching. In this case, increase the value in [Pr. PB28 Gain switching time
constant].
• When the conditions for "Gain switching" and "Gain switching 2" are established at the same time, "Gain switching 2" is
enabled.
5.5

Setting method for gain switching

When using the gain switching, set the parameters as follows.

Servo parameters for setting the gain switching condition

Servo parameter Symbol
PB26 *CDP
PB27 CDL
PB28 CDT
PB65 CDL2
PB66 CDT2
Name Unit
Gain switching function 
Gain switching condition [kpulse/s]/
[pulse]/
[r/min]/[mm/
s]
Gain switching time constant [ms]
Gain switching 2 condition [kpulse/s]/
[pulse]/
[r/min]/[mm/
s]
Gain switching 2 time constant [ms]
Description
Select the switching condition.
Set the condition values to switch the original gain to the gain for
"Gain switching".
Set the time constant for the original gain to be switched to the gain
for "Gain switching".
Set the condition values to switch the gain to the gain for "Gain
switching 2".
The setting value is to be larger than in [Pr. PB27 Gain switching
condition].
When this setting value is "0", the gain is not switched to the gain for
"Gain switching 2".
Set the time constant for the gain to be switched to the gain for "Gain
switching 2".
5 GAIN SWITCHING FUNCTION
5.3 Restrictions on gain switching [A]
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