Mitsubishi Electric MR-J4 B Series Instruction Manual page 123

5. PARAMETERS
No. Symbol
CDP
PB26 Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr.
PB56] to [Pr. PB60].
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PB27 CDL Gain switching condition
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].
The set value unit differs depending on the switching condition item. (Refer to section 7.2.3)
The unit "r/min" will be "mm/s" for linear servo motors.
PB28 CDT Gain switching time constant
This is used to set the time constant at which the gains will change in response to the
conditions set in [Pr. PB26] and [Pr. PB27].
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching
This is used to set the load to motor inertia ratio/load to motor mass ratio when gain switching
is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
PB30 PG2B Position loop gain after gain switching
Set the position loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
PB31 VG2B Speed loop gain after gain switching
Set the speed loop gain when the gain switching is enabled.
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
PB32 VICB Speed integral compensation after gain switching
Set the speed integral compensation when the gain changing is valid.
When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
Name and function
Explanation
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
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
For manufacturer setting
5 - 26
Initial
Setting
value
range
(unit)
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
10 0 to
[kpps]/ 65535
[pulse]/
[r/min]
1 0 to
[ms] 100
7.00 0.00 to
Multiplier 300.00
(×1)
0.0 0.0 to
[rad/s] 2000.0
0 0 to
[rad/s] 65535
0.0 0.0 to
[ms] 5000.0