Gain Changing Operation - Mitsubishi Electric MR-J3-B Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.6.4 Gain changing operation

This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No. Abbreviation
PB07 PG1
PB06 GD2
PB08 PG2
PB09 VG2
PB10 VIC
PB29 GD2B
PB30 PG2B
PB31 VG2B
PB32 VICB
PB26 CDP
PB28 CDT
PB33 VRF1B
PB34 VRF2B
(b) Changing operation
Control command
of controller
Change of
each gain
Model loop gain 1
Ratio of load inertia moment
to servo motor inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Name
Model loop gain
Ratio of load inertia moment to servo motor
inertia moment
Position loop gain
Speed loop gain
Speed integral compensation
Gain changing ratio of load inertia moment
to servo motor inertia moment
Gain changing position loop gain
Gain changing speed loop gain
Gain changing speed integral compensation
Gain changing selection
Gain changing time constant
Gain changing vibration suppression control
vibration frequency setting
Gain changing vibration suppression control
resonance frequency setting
OFF
Before-changing gain
4.0
120
3000
20
(Changed by ON/OFF of Input signal)
Used to set the value of the after-changing
vibration suppression
frequency setting.
Used to set the value of the after-changing
vibration suppression
frequency setting.
ON
After-changing gain
CDT 100ms
100
10.0
84
4000
50
7 - 14
Setting
100
4.0
120
3000
20
10.0
84
4000
50
0001
100
control vibration
control resonance
OFF
4.0
120
3000
20
Unit
rad/s
times
rad/s
rad/s
ms
times
rad/s
rad/s
ms
ms
Hz
Hz