Mitsubishi Electric Melservo JE Series Instruction Manual page 172

7. SPECIAL ADJUSTMENT FUNCTIONS
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. You can switch the values of
load to motor inertia ratio, position loop gain, model loop gain, speed loop gain, and speed integral
compensation by switching the gain.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. You can switch the values of the
vibration frequency, resonance frequency, vibration frequency damping, and resonance frequency
damping by switching the gain during a motor stop.
(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of the position loop gain, speed loop gain and speed integral compensation after gain
switching.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr.
PB59])/[Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used only
with a control command from the controller.
You can switch the values of the vibration frequency, resonance frequency, vibration frequency
damping, resonance frequency damping, and model loop gain of the vibration suppression control 1
and vibration suppression control 2.
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