Parameters - Mitsubishi Electric MR-E A Series Instruction Manual

8. SPECIAL ADJUSTMENT FUNCTIONS

8.5.3 Parameters

When using the gain changing function, always set "
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrevi
No. ation
6
36
34 GD2
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35
37
38
61 GD2B
62 PG2B
63 VG2B
64 VICB
65 CDP
66 CDS
67 CDT
Name
PG1 Position control gain 1
VG1 Speed control gain 1
Ratio of load inertia moment to
servo motor inertia moment
PG2 Position control gain 2
VG2 Speed control gain 2
VIC Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2 changing
ratio
Speed control gain 2 changing
ratio
Speed integral compensation
changing ratio
Gain changing selection
Gain changing condition
Gain changing time constant
4 " in parameter No.2 (auto tuning) to choose
Unit
rad/s Position and speed gains of a model used to set the response
rad/s level to a command. Always valid.
0.1 Control parameters before changing
times
rad/s
rad/s
ms
0.1 Used to set the ratio of load inertia moment to servo motor
times inertia moment after changing.
Used to set the ratio (%) of the after-changing position
%
control gain 2 to position control gain 2.
Used to set the ratio (%) of the after-changing speed control
%
gain 2 to speed control gain 2.
Used to set the ratio (%) of the after-changing speed integral
%
compensation to speed integral compensation.
Used to select the changing condition.
kpps Used to set the changing condition values.
pulse
r/min
You can set the filter time constant for a gain change at
ms
changing.
8 - 6
Description