Pb25 *Bop1 Function Selection; Pb27 Cdl Gain Changing Condition; Moment; Setting - Mitsubishi Electric Melservo MR-J3-A Instruction Manual

5. PARAMETERS
No. Symbol
PB25 *BOP1 Function selection B-1
Select the control systems for position command
acceleration/deceleration time constant (parameter No. PB03).
0 0
PB26 *CDP Gain changing selection
Select the gain changing condition. (Refer to section 8.6.)
0 0
PB27 CDL Gain changing condition
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in
parameter No. PB26.The set value unit changes with the changing
condition item. (Refer to section 8.6.)
PB28 CDT Gain changing time constant
Used to set the time constant at which the gains will change in
response to the conditions set in parameters No. PB26 and PB27.
(Refer to section 8.6.)
PB29 GD2B Gain changing - ratio of load inertia moment to servo motor inertia

moment

Used to set the ratio of load inertia moment to servo motor inertia
moment when gain changing is valid.
This parameter is made valid when the auto tuning is invalid
(parameter No. PA08:
PB30 PG2B Gain changing - position loop gain
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid
(parameter No. PA08:
Name and Function
0
Control of position command acceleration/
deceleration time constant
0: Primary delay
1: Linear acceleration/deceleration
When linear acceleration/deceleration has been
selected, do not execute control switching after
instantaneous power failure. The servo motor will
make a hard stop at control switching or
automatic restart.
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No. PB29 to
PB32 settings.
0: Invalid
1: Gain changing (CDP) is ON
2: Command frequency (Parameter No.PB27

setting)

3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain changing condition
0: Valid at more than condition (Valid when gain
changing (CDP) is ON)
1: Valid at less than condition (Valid when gain
changing (CDP) is OFF))
3).
3).
Initial
Value
0000h
0000h
10
1
7.0
37
5 - 23
Setting Control Mode
Unit
Range Position Speed Torque
Refer to
Name
and
function
column.
Refer to
Name
and
function
column.
kpps 0
pulse to
r/min 9999
ms 0
to
100
times 0
to
300.0
rad/s 1
to
2000