Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - Page 228

7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 17
(2) Switchable gain parameter
Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia ratio PB06 GD2 Load to motor inertia ratio PB29 GD2B Load to motor inertia ratio
after gain switching
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain after gain
switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Position loop gain after
gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Speed loop gain after gain
switching
Speed integral
compensation
PB10 VIC Speed integral
compensation
PB32 VICB Speed integral
compensation after gain
switching
Vibration suppression
control 1 - Vibration
frequency
PB19 VRF11 Vibration suppression
control 1 - Vibration
frequency
PB33 VRF11B Vibration suppression
control 1 - Vibration
frequency after gain
switching
Vibration suppression
control 1 - Resonance
frequency
PB20 VRF12 Vibration suppression
control 1 - Resonance
frequency
PB34 VRF12B Vibration suppression
control 1 - Resonance
frequency after gain
switching
Vibration suppression
control 1 - Vibration
frequency dumping setting
PB21 VRF13 Vibration suppression
control 1 - Vibration
frequency dumping setting
PB35 VRF13B Vibration suppression
control 1 - Vibration
frequency dumping setting
after gain switching
Vibration suppression
control 1 - Resonance
frequency dumping setting
PB22 VRF14 Vibration suppression
control 1 - Resonance
frequency dumping setting
PB36 VRF14B Vibration suppression
control 1 - Resonance
frequency dumping setting
after gain switching
Vibration suppression
control 2 - Vibration
frequency
PB52 VRF21 Vibration suppression
control 2 - Vibration
frequency
PB56 VRF21B Vibration suppression
control 2 - Vibration
frequency after gain
switching
Vibration suppression
control 2 - Resonance
frequency
PB53 VRF22 Vibration suppression
control 2 - Resonance
frequency
PB57 VRF22B Vibration suppression
control 2 - Resonance
frequency after gain
switching
Vibration suppression
control 2 - Vibration
frequency dumping setting
PB54 VRF23 Vibration suppression
control 2 - Vibration
frequency dumping setting
PB58 VRF23B Vibration suppression
control 2 - Vibration
frequency dumping setting
after gain switching
Vibration suppression
control 2 - Resonance
frequency dumping setting
PB55 VRF24 Vibration suppression
control 2 - Resonance
frequency dumping setting
PB59 VRF24B Vibration suppression
control 2 - Resonance
frequency dumping setting
after gain switching
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to
be switched.
(b) [Pr.PB19] to [Pr.PB22]/[Pr.PB52] to [Pr.PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency dumping setting, and resonance frequency dumping setting.