Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 188

No./symbol/ Setting
name digit
PA09 Set the auto tuning response.
RSP
Setting
Auto tuning
value
response
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Setting range: 1 to 40

PA10
INP
In-position range
PA11 
TLP
Forward rotation
torque limit/positive
direction thrust limit

PA12
TLN
Reverse rotation
torque limit/negative
direction thrust limit
5 PARAMETERS
186
5.2 Detailed list of parameters
Function
Machine characteristic
Guideline for
Response
machine resonance
frequency [Hz]
Low 2.7
response
3.6
4.9
6.6
10.0
11.3
12.7
14.3
16.1
18.1
20.4
23.0
25.9
29.2
32.9
37.0
41.7
47.0
52.9
Middle
response 59.6
Set an in-position range per command pulse.
To change it to the servo motor encoder pulse unit, set [Pr. PC06].
In the motion mode, the in-position range is the range where INP is outputted. The unit is fixed to [pulse].
Setting range: 0 to 65535
You can limit the torque or thrust generated by the servo motor.
When you output the torque or thrust with analog monitor output, the larger value of [Pr. PA11 Forward
rotation torque limit/positive direction thrust limit] or [Pr. PA12 Reverse rotation torque limit/negative direction
thrust limit] will be the maximum output voltage (8 V).
Set the parameter on the assumption that the rated torque or continuous thrust is 100.0 [%]. The parameter is
for limiting the torque of the servo motor in the CCW power running or CW regeneration, or limiting the thrust
of the linear servo motor in the positive direction power running or negative direction regeneration. Set this
parameter to "0.0" to generate no torque or thrust.
With equipment for the simple motion connected, writing from MR Configurator2 may not be reflected since
this parameter is updated by the simple motion.
The polarity of torque limit can be changed depending on the setting values of [Pr. PA14 Rotation direction
selection/travel direction selection] and [Pr. PC29 POL reflection selection at torque mode].
Setting range: 0.0 to 1000.0
You can limit the torque or thrust generated by the servo motor.
When you output the torque or thrust with analog monitor output, the larger value of [Pr. PA11 Forward
rotation torque limit/positive direction thrust limit] or [Pr. PA12 Reverse rotation torque limit/negative direction
thrust limit] will be the maximum output voltage (8 V).
Set the parameter on the assumption that the rated torque or continuous thrust is 100.0 [%]. The parameter is
for limiting the torque of the servo motor in the CW power running or CCW regeneration, or limiting the thrust
of the linear servo motor in the negative direction power running or positive direction regeneration. Set this
parameter to "0.0" to generate no torque or thrust.
With equipment for the simple motion connected, writing from MR Configurator2 may not be reflected since
this parameter is updated by the simple motion.
The polarity of torque limit can be changed depending on the setting values of [Pr. PA14 Rotation direction
selection/travel direction selection] and [Pr. PC29 POL reflection selection at torque mode].
Setting range: 0.0 to 1000.0
Setting Machine characteristic
value
Guideline for
Response
machine resonance
frequency [Hz]
21 Middle 67.1
response
22 75.6
23 85.2
24 95.9
25 108.0
26 121.7
27 137.1
28 154.4
29 173.9
30 195.9
31 220.6
32 248.5
33 279.9
34 315.3
35 355.1
36 400.0
37 446.6
38 501.2
39 571.5
High
40 response 642.7
Initial
value
[unit]
16
1600 [pulse]
1000.0 [%]
1000.0 [%]