Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - Page 145

5. PARAMETERS
5 - 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
Control
mode
No. Symbol Name
Initial
value
Unit
PST
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
PB02 VRFT
Vibration suppression control tuning mode (advanced vibration
suppression control II)
0000h
PB03 PST
Position command acceleration/deceleration time constant (position
smoothing)
0 [ms]
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]
PB16 NHQ2 Notch shape selection 2 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency dumping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency dumping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24

MVS
Slight vibration suppression control 0000h
PB25

BOP1
Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10
[kpps]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF1B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
PB34 VRF2B
Vibration suppression control 1 - Resonance frequency after gain
switching
0.0 [Hz]
PB35 VRF3B
Vibration suppression control 1 - Vibration frequency dumping after gain
switching
0.00
PB36 VRF4B
Vibration suppression control 1 - Resonance frequency dumping after
gain switching
0.00
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]
PB47 NHQ3 Notch shape selection 3 0000h
PB48 NH4 Machine resonance suppression filter 4 4500 [Hz]
damping
damping
damping
damping