Mitsumi electronic MR-J3- A Manual De Usuario
5 - 18
5. PARAMETERS
5.2 Gain/filter parameters (No.PB
)
POINT
For any parameter whose symbol is preceded by *, set the parameter value and
switch power off once, then switch it on again to make that parameter setting
valid.
switch power off once, then switch it on again to make that parameter setting
valid.
5.2.1 Parameter list
No. Symbol
Name
Initial
value
Unit
Control mode
Position Speed Torque
PB01
FILT
Adaptive tuning mode (Adaptive filter ) 0000h
PB02 VRFT
Vibration suppression control tuning mode
(Advanced vibration suppression control)
(Advanced vibration suppression control)
0000h
PB03 PST
Position command acceleration/deceleration time constant
(Position smoothing)
(Position smoothing)
0 ms
PB04 FFC Feed
forward
gain
0
PB05
For manufacturer setting
500
PB06
GD2
Ratio of load inertia moment to servo motor inertia moment
7.0
Multiplier
( 1)
PB07
PG1
Model loop gain
24
rad/s
PB08
PG2
Position loop gain
37
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
Automatic setting parameter
PB18
LPF
Low-pass filter setting
3141
rad/s
PB19 VRF1 Vibration suppression control vibration frequency setting
100.0
Hz
PB20 VRF2 Vibration suppression control resonance frequency setting
100.0
Hz
PB21
For manufacturer setting
0.00
PB22
0.00
PB23 VFBF Low-pass filter selection
0000h
PB24 *MVS Slight vibration suppression control selection
0000h
PB25 *BOP1 Function selection B-1
0000h
PB26
*CDP Gain changing selection
0000h
PB27
CDL
Gain changing condition
10
PB28
CDT
Gain changing time constant
1
ms
PB29 GD2B
Gain changing ratio of load inertia moment to servo motor
inertia moment
inertia moment
7.0
Multiplier
( 1)
PB30 PG2B Gain changing position loop gain
37
rad/s
PB31 VG2B Gain changing speed loop gain
823
rad/s
PB32
VICB Gain changing speed integral compensation
33.7
ms
PB33 VRF1B
Gain changing vibration suppression control vibration frequency
setting
setting
100.0 Hz
PB34 VRF2B
Gain changing vibration suppression control resonance
frequency setting
frequency setting
100.0 Hz