Mitsumi electronic MR-J3- A Manual De Usuario
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8. SPECIAL ADJUSTMENT FUNCTIONS
8.6.3 Parameters
When using the gain changing function, always set parameter No.PA08 to "
3" (auto tuning mode) to
select the manual mode in the auto tuning modes. The gain changing function cannot be used in the auto
tuning mode.
tuning mode.
Parameter
No.
Abbrevi-
ation
Name Unit
Description
PB06 GD2
Ratio of load inertia moment to servo
motor inertia moment
motor inertia moment
Multiplier
( 1)
Control parameters before changing
PB07
PG1
Model loop gain
rad/s
Position and speed gains of a model used to set the response
level to a command. Always valid.
level to a command. Always valid.
PB08
PG2
Position loop gain
rad/s
PB09
VG2
Speed loop gain
rad/s
PB10
VIC
Speed integral compensation
ms
PB29 GD2B
Gain changing ratio of load inertia
moment to servo motor inertia
moment
moment to servo motor inertia
moment
Multiplier
( 1)
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
inertia moment after changing.
PB30
PG2B Gain changing position loop gain
rad/s
Used to set the value of the after-changing position loop gain.
PB31
VG2B Gain changing speed loop gain
rad/s
Used to set the value of the after-changing speed loop gain.
PB32 VICB
Gain changing speed integral
compensation
compensation
ms
Used to set the value of the after-changing speed integral
compensation.
compensation.
PB26
CDP
Gain changing selection
Used to select the changing condition.
PB27
CDL
Gain changing condition
kpps
pulse
r/min
Used to set the changing condition values.
PB28
CDT
Gain changing time constant
ms
You can set the filter time constant for a gain change at
changing.
changing.
PB33 VRF1B
Gain changing vibration suppression
control vibration frequency setting
control vibration frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control vibration frequency setting.
suppression control vibration frequency setting.
PB34 VRF2B
Gain changing vibration suppression
control resonance frequency setting
control resonance frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control resonance frequency setting.
suppression control resonance frequency setting.
(1) Parameters No.PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load to motor inertia moment ratio, the position loop gain, the speed loop gain and the speed
integral compensation to be changed.
ratio of load to motor inertia moment ratio, the position loop gain, the speed loop gain and the speed
integral compensation to be changed.
(2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29)
Set the load to servo motor inertia moment ratio after changing the gain. If the load to servo inertia moment
ratio does not change, set the parameter to the same value as the load to servo motor inertia moment ratio
(parameter No.PB06).
ratio does not change, set the parameter to the same value as the load to servo motor inertia moment ratio
(parameter No.PB06).
(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter No.
PB31), Gain changing speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.