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App. - 46
APPENDIX
App. 5.14.1 Application functions
(1) Gain changing
For the usage of gain changing, which is the same as that of the servo amplifier MR-J4(W
)- B, refer to
Section 6.19. However, for the servo parameters to be used, refer to the following table.
Servo parameters (MR-J3(W)-
B)
Parameter No.
MR-J3(W)-B
Parameter No.
Symbol Name Setting
0139 PB26 *CDP Gain changing selection
0001 (valid when command received
from controller and when the input signal
(CDP) is on)
013A PB27 CDL Gain changing condition 0
013B PB28 CDT Gain changing time constant Arbitrary within setting range
013C PB29 GD2B
Gain changing ratio of load inertia moment to
servo motor inertia moment
Arbitrary within setting range
013D PB30 PG2B Gain changing position loop gain Arbitrary within setting range
013E PB31 VG2B Gain changing speed loop gain Arbitrary within setting range
013F PB32 VICB Gain changing speed integral compensation Arbitrary within setting range
0140 PB33 VRF1B
Gain changing vibration suppression control
vibration frequency setting
Arbitrary within setting range
0141 PB34 VRF2B
Gain changing vibration suppression control
resonance frequency setting
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.0107) to 3
(manual mode). If the gain adjustment mode is in an auto-tuning mode, the
gain changing function cannot be used.
(2) PI-PID switching
For the usage of PI-PID switching, which is the same as that of the servo amplifier MR-J4(W
)- B, refer
to Section 6.20. However, for the servo parameters to be used, refer to the following table.
Servo parameter (MR-J3(W)-
B)
Parameter No.
MR-J3(W)-B
Parameter No.
Abbreviation Name Setting value
0137 PB24 *MVS Slight vibration suppression control selection 0 (PI control is valid (can be
switched to PID control by the command
from the controller).)
POINT
Refer to the Servo Amplifier Instruction Manual on your servo amplifier
concerning details for the servo parameters.
To use the PI-PID switching function, first set the gain adjustment mode to a
manual mode by changing an auto-tuning mode (parameter No.0107) to 3
(manual mode). If the gain adjustment mode is in an auto-tuning mode, the
PI-PID switching function cannot be used.