Mitsubishi Electronics MR-J2S- A instruction manual 29 VCO, Mbr, PG2, Analog speed command offset

5. PARAMETERS

Class No. Symbol

29 VCO

	30	TLO
	31	MO1
	32	MO2
1	33	MBR
parametersExpansion	34	GD2
	35	PG2
	36	VG1
		VG2
	37
	38	VIC

Name and function	Initial	Unit	Setting		Control
	value		range		mode
Analog speed command offset	Depends	mV		999	S
Used to set the offset voltage of the analog speed command (VC).	on servo			to
For example, if CCW rotation is provided by switching on forward	amplifier		999
rotation start (ST1) with 0V applied to VC, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to Section6.3.)
The initial value is the value provided by the automatic VC offset
function before shipment at the VC-LG voltage of 0V.
Analog speed limit offset					T
Used to set the offset voltage of the analog speed limit (VLA).
For example, if CCW rotation is provided by switching on forward
rotation selection (RS1) with 0V applied to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to Section6.3.)
The initial value is the value provided by the automatic VC offset
function before shipment at the VLA-LG voltage of 0V.
Analog torque command offset	0	mV		999	T
Used to set the offset voltage of the analog torque command (TC).				to
Analog torque limit offset			999		S
Used to set the offset voltage of the analog torque limit (TLA).
Analog monitor ch1 offset	0	mV		999	P S T
Used to set the offset voltage of the analog monitor ch1 output (MO1).			to 999
Analog monitor ch2 offset	0	mV		999	P S T
Used to set the offset voltage of the analog monitor ch2 output (MO2).			to 999
Electromagnetic brake sequence output	100	ms	0		P S T
Used to set the delay time (Tb) between electronic brake interlock				to
signal (MBR) and the base drive circuit is shut-off.			1000
Ratio of load inertia moment to servo motor inertia moment	70	0.1	0		P S
Used to set the ratio of the load inertia moment to the servo motor		times		to
shaft inertia moment. When auto tuning is selected, the result of			3000
auto tuning is automatically set.
In this case, it varies between 0 and 1000.
Position loop gain 2	35	rad/s	1		P
Used to set the gain of the position loop.				to
Set this parameter to increase the position response to level load			1000
disturbance. Higher setting increases the response level but is liable
to generate vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
Speed loop gain 1	177	rad/s	20		P S
Normally this parameter setting need not be changed.				to
Higher setting increases the response level but is liable to generate			8000
vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
Speed loop gain 2	817	rad/s	20		P S
Set this parameter when vibration occurs on machines of low rigidity				to
or large backlash. Higher setting increases the response level but is			20000
liable to generate vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
Speed integral compensation	48	ms	1		P S
Used to set the integral time constant of the speed loop.				to
Higher setting increases the response level but is liable to generate			1000
vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.

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