Справочник Пользователя для Mitsubishi Electronics MR-MC210
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6. APPLICATION FUNCTIONS
6.19 Gain changing
Through turning on the gain changing command signal (GAIN), the gain for the servo amplifier can be changed.
This is used to change the gain during revolution and while stopped, as well as changing gain proportional to
amount of movement or speed. When the gain changing function is used, set the following servo parameters.
For servo parameters (MR-J4(W )- B)
This is used to change the gain during revolution and while stopped, as well as changing gain proportional to
amount of movement or speed. When the gain changing function is used, set the following servo parameters.
For servo parameters (MR-J4(W )- B)
Parameter No.
MR-J4-B
Parameter No.
Abbreviation Name
Setting
value
1159
PB26
*CDP
Gain switching function
Arbitrary within setting range
115A
PB27
CDL
Gain switching condition
Arbitrary within setting range
115B
PB28
CDT
Gain switching time constant
Arbitrary within setting range
115C
PB29
GD2B
Gain switching ratio of load inertia moment/load
mass ratio
mass ratio
Arbitrary within setting range
115D
PB30
PG2B
Gain switching position control gain
Arbitrary within setting range
115E
PB31
VG2B
Gain switching speed control gain
Arbitrary within setting range
115F
PB32
VICB
Gain switching speed integral compensation
Arbitrary within setting range
1160
PB33
VRF11B
Gain switching vibration suppression control 1
vibration frequency setting
vibration frequency setting
Arbitrary within setting range
1161
PB34
VRF12B
Gain switching vibration suppression control 1
resonance frequency setting
resonance frequency setting
Arbitrary within setting range
1162
PB35
VRF13B
Gain switching vibration suppression control 1
vibration frequency dumping setting
vibration frequency dumping setting
Arbitrary within setting range
1163
PB36
VRF14B
Gain switching vibration suppression control 1
resonance frequency setting
resonance frequency setting
Arbitrary within setting range
1177
PB56
VRF21B
Gain switching vibration suppression control 2
vibration frequency setting
vibration frequency setting
Arbitrary within setting range
1178
PB57
VRF22B
Gain switching vibration suppression control 2
resonance frequency setting
resonance frequency setting
Arbitrary within setting range
1179
PB58
VRF23B
Gain switching vibration suppression control 2
vibration frequency dumping setting
vibration frequency dumping setting
Arbitrary within setting range
117A
PB59
VRF24B
Gain switching vibration suppression control 2
resonance frequency setting
resonance frequency setting
Arbitrary within setting range
117B
PB60
PG1B
Gain switching model loop gain
Arbitrary within setting range
POINT
Refer to the Servo Amplifier Instruction Manual on your servo amplifier
concerning details for the servo parameters.
To use the gain switching function, first set the gain adjustment mode to a
manual mode by changing an auto-tuning mode (parameter No.1107) to 3
(manual mode). If the gain adjustment mode is in an auto-tuning mode, the
gain changing function cannot be used.
(manual mode). If the gain adjustment mode is in an auto-tuning mode, the
gain changing function cannot be used.
API LIBRARY
To turn ON/OFF the gain changing command (GAIN), set
SSC_CMDBIT_AX_GAIN to the command bit number of the
sscSetCommandBitSignalEx function.
sscSetCommandBitSignalEx function.
To check if during gain switching (GAINO) is ON/OFF, set
SSC_STSBIT_AX_GAINO to the status bit number with the
sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.
sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx function.