Mitsubishi Electric MR-J5 User Manual page 90

[Pr. PB26 Gain switching function]
Select the gain switching condition.
Servo parameter
PB26.0
PB26.1
PB26.2
PB26.4
PB26.5
■Combination of [Pr. PB26.0] and [Pr. PB26.1]
[Pr. PB26.1 Gain
switching -
Condition selection]
0
1
[Pr. PB27 Gain switching condition], [Pr. PB65 Gain switching 2 condition]
When "2" (Command frequency), "3" (Droop pulses), or "4" (Servo motor speed) is selected in [Pr. PB26.0 Gain switching
selection], set [Pr. PB27] for the level to switch the gain to "Gain switching".
When "2" (the same condition as [Pr. PB26.0]) is selected in [Pr. PB26.4 Gain switching 2 selection], set the level for switching
the gain to "Gain switching 2" in [Pr. PB65].
The setting unit is shown in the following table.
Gain switching condition
Command frequency
Droop pulses
Servo motor speed
[Pr. PB28 Gain switching time constant], [Pr. PB66 Gain switching 2 time constant]
The primary delay filter can be set to each gain in gain switching. If the gain difference is too large at gain switching, use these
servo parameters for purposes such as suppressing the shock applied to the machine.
5 GAIN SWITCHING FUNCTION
88
5.5 Setting method for gain switching
Description
Gain switching selection
0: Disabled
1: Signal (CDP/C_CDP) [G] [A]/control command from the controller [B]
2: Command frequency
3: Droop pulses
4: Servo motor speed
5: Command direction
When "1" is selected, the gain changes to "Gain after gain switching" by the control command from the controller or input device.
Gain switching condition selection
0: Gain after "Gain switching" is enabled with the value of the gain switching condition or more
1: Gain after "Gain switching" is enabled with the value of the gain switching condition or less
The gain switching condition varies depending on the setting value of [Pr. PB26.0].
Page 88 Combination of [Pr. PB26.0] and [Pr. PB26.1]
Gain switching time constant - Disabling condition selection
0: Switching time constant enabled
1: Time constant disabled at switching
2: Time constant disabled at return
Gain switching 2 selection
0: Disabled
1: Signal (CDP2/C_CDP2) [G] [A]/control command from the controller [B]
2: The same condition as [Pr. PB26.0 Gain switching selection]
When "1" is selected, the gain changes to "Gain after gain switching 2" by the control command from the controller or input device.
When "1" is set in [Pr. PB26.0] while "2" has been selected for this servo parameter, the gain changes to "Gain after gain switching
2" by the control command from the controller or the input device.
Gain switching selection during a stop
0: Gain switching 2 during a stop is disabled
1: Gain switching 2 during a stop is enabled
This servo parameter is enabled in the following condition: [Pr. PB26.4] is set to "2" (the same condition as [Pr. PB26.0 Gain
switching selection]) and [Pr. PB26.0] is set to "5" (command direction) in the position mode and the positioning mode.
[Pr. PB26.0 Gain switching selection]
1
Gain after "Gain switching" is enabled
with the signal ON
Gain after "Gain switching" is enabled
with the signal OFF
2 3 4
Gain after "Gain switching" is enabled with the
condition value or more for gain switching
Gain after "Gain switching" is enabled with the
condition value or less for gain switching
5
Gain after "Gain switching" is enabled
with the negative direction command
Gain after "Gain switching" is enabled
with the positive direction command
Unit
[kpulse/s]
[pulse]
[r/min]/[mm/s]