Mitsubishi Electronics MR-J2M-P8A 用户手册

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7. SPECIAL ADJUSTMENT FUNCTIONS

7.5.3 Parameters

When using the gain changing function, always set "     4   " in DRU parameter No.2 (auto tuning) to
choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the
auto tuning mode.

DRU

parameter No.

Abbrevi-

ation

Name

Unit

Description

6

PG1

Position control gain 1

rad/s

36

VG1

Speed control gain 1

rad/s

Position and speed gains of a model used to set the
response level to a command. Always valid.

34

GD2

Ratio of load inertia moment to
servo motor inertia moment

0.1

times

35

PG2

Position control gain 2

rad/s

37

VG2

Speed control gain 2

rad/s

38

VIC

Speed integral compensation

ms

Control parameters before changing

61

GD2B

Ratio of load inertia moment to
servo motor inertia moment 2

0.1

times

Used to set the ratio of load inertia moment to servo
motor inertia moment after changing.

62

PG2B

Position control gain 2 changing
ratio

%

Used to set the ratio (%) of the after-changing position
control gain 2 to position control gain 2.

63

VG2B

Speed control gain 2 changing
ratio

%

Used to set the ratio (%) of the after-changing speed
control gain 2 to speed control gain 2.

64

VICB

Speed integral compensation
changing ratio

%

Used to set the ratio (%) of the after-changing speed
integral compensation to speed integral compensation.

65

CDP

Gain changing selection

Used to select the changing condition.

66

CDS

Gain changing condition

kpps

pulse
r/min

Used to set the changing condition values.

67

CDT

Gain changing time constant

ms

You can set the filter time constant for a gain change at
changing.