Mitsubishi Electronics MR-J2S- CL specifications GD2B

9. SPECIAL ADJUSTMENT FUNCTIONS

9.5.3 Parameters

When using the gain changing function, always set " 4 " in parameter No.3 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.

Parameter	Abbrev-		Name	Unit	Description
No.	iation
7	PG1	Position control gain 1		rad/s	Position and speed gains of a model used to set the response
36	VG1	Speed control gain 1		rad/s	level to a command. Always valid.
34	GD2	Ratio of load inertia moment to		0.1	Control parameters before changing
		servo motor inertia moment		times
35	PG2	Position control gain 2		rad/s
37	VG2	Speed control gain 2		rad/s
38	VIC	Speed integral compensation		ms
64	GD2B	Ratio of load inertia moment to		0.1	Used to set the ratio of load inertia moment to servo motor
		servo motor inertia moment 2		times	inertia moment after changing.
65	PG2B	Position control gain 2 changing		%	Used to set the ratio (%) of the after-changing position
		ratio			control gain 2 to position control gain 2.
66	VG2B	Speed	control gain 2 changing	%	Used to set the ratio (%) of the after-changing speed control
		ratio			gain 2 to speed control gain 2.
67	VICB	Speed	integral compensation	%	Used to set the ratio (%) of the after-changing speed integral
		changing ratio			compensation to speed integral compensation.
68	CDP	Gain changing selection			Used to select the changing condition.
				kpps	Used to set the changing condition values.
69	CDS	Gain changing condition		pulse
				r/min
70	CDT	Gain changing time constant		ms	You can set the filter time constant for a gain change at
					changing.

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