Mitsubishi MR-J4-700A - Page 207

5. PARAMETERS
5 - 28
Control
mode
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
P S T
PB24
*MVS
Slight
vibration
suppression
control
_ _ _ x Slight vibration suppression control selection
Select the slight vibration suppression control.
0: Disabled
1: Enabled
To enable the slight vibration suppression control, set "Gain adjustment mode
selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control cannot be used in the speed control mode.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
_ _ _ x For manufacturer setting 0h PB25
*BOP1
Function
selection B-1
_ _ x _ Position acceleration/deceleration filter type selection
Select the position acceleration/deceleration filter type.
0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration", do not switch the control mode.
Doing so will cause the servo motor to make a sudden stop at the time of control
mode switching.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
PB26
*CDP
Gain
switching
function
_ _ _ x Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear servo motor speed
0h
_ _ x _ Gain switching condition selection
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PB27
CDL
Gain
switching
condition
This is used to set the value of gain switching (command frequency, droop pulses,
and servo motor speed/linear servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching condition item. (Refer to
section 7.2.3.)
The unit "r/min" will be "mm/s" for linear servo motors.
Setting range: 0 to 9999
10
[kpulse/s]
/[pulse]
/[r/min]
PB28
CDT
Gain
switching
time constant
This is used to set the time constant at which the gains will change in response to
the conditions set in [Pr. PB26] and [Pr. PB27].
Setting range: 0 to 100
1
[ms]
PB29
GD2B
Load to motor
inertia ratio/
load to motor
mass ratio
after gain
switching
This is used to set the load to motor inertia ratio/load to motor mass ratio when gain
switching is enabled.
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.00 to 300.00
7.00
[Multiplier]
PB30
PG2B
Position loop
gain after
gain
switching
Set the position loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
This parameter is enabled only when "Gain adjustment mode selection" is "Manual
mode (_ _ _ 3)" in [Pr. PA08].
Setting range: 0.0 to 2000.0
0.0
[rad/s]