[Pr. Pb08_Position Control Gain; [Pr. Pb09_Speed Control Gain (Vg2)]; [Pr. Pb10_Speed Integral Compensation (Vic)] - Mitsubishi Electric MR-J5-G User Manual

[Pr. PB08_Position control gain (PG2)]
Initial value
37.0 [rad/s]
Set the gain of the position loop.
Set this servo parameter when increasing the position responsiveness to level load disturbance.
Increasing the setting value improves responsiveness to the load disturbance, but increasing the value too much raises the
likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following table for details.
[Pr. PA08.0]
"0" (2 gain adjustment mode 1 (interpolation mode))
"1" (auto tuning mode 1)
"2" (auto tuning mode 2)
"3" (manual mode)
"4" (2 gain adjustment mode 2)
"5" (quick tuning mode)
"6" (load to motor inertia ratio monitor mode)

[Pr. PB09_Speed control gain (VG2)]

Initial value
823 [rad/s]
Set the gain of the speed loop.
Set this servo parameter when vibration occurs on machines with low rigidity or with large backlash. Increasing the setting
value improves responsiveness, but increasing the value too much raises the likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following for details.
Page 39 [Pr. PB08_Position control gain (PG2)]

[Pr. PB10_Speed integral compensation (VIC)]

Initial value
33.7 [ms]
Set the integral time constant of the speed loop.
Decreasing the setting value improves responsiveness, but raises the likelihood of vibration and noise.
The setting of this servo parameter will be automatic or manual depending on the setting value of [Pr. PA08.0 Gain adjustment
mode selection]. Refer to the following for details.
Page 39 [Pr. PB08_Position control gain (PG2)]
Setting range
1.0 to 2000.0
Setting range
20 to 65535
Setting range
0.1 to 1000.0
Setting method
Each axis
Servo parameter status
Automatic setting
Manual setting
Automatic setting
Manual setting
Setting method
Each axis
Setting method
Each axis
1 SERVO PARAMETER DETAILS
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Ver.
A0
Ver.
A0
Ver.
A0
1
39