Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 133

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
No. Name and function
PB31 Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
PB32 Gain changing speed integral compensation
Set the speed integral compensation when the gain
changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3)
PB33 Gain changing vibration suppression control vibration
frequency setting
This parameter cannot be used in the speed control
mode.
Set the vibration frequency for vibration suppression
control when the gain changing is valid. This parameter
is made valid when the [Pr. PB02] setting is "_ _ _ 2"and
the [Pr. PB26] setting is " _ _ _ 1". When using the
vibration suppression control gain changing, always
execute the changing after the servo motor has stopped.
PB34 Gain changing vibration suppression control resonance
frequency setting
This parameter cannot be used in the speed control
mode.
Set the resonance frequency for vibration suppression
control when the gain changing is valid. This parameter
is made valid when the [Pr. PB02] setting is "_ _ _ 2" and
the [Pr. PB26] setting is "_ _ _ 1".
When using the vibration suppression control gain
changing, always execute the changing after the servo
motor has stopped.
MR-J3-_B_
Initial
No.
value
823 PB31 Speed loop gain after gain switching
Set the speed loop gain when the gain switching is
enabled.
When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
33.7 PB32 Speed integral compensation after gain switching
Set the speed integral compensation when the gain
changing is enabled.
When you set a value less than 0.1 ms, the value will be
the same as [Pr. PB10].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
100.0 PB33 Vibration suppression control 1 - Vibration frequency
after gain switching
Set the vibration frequency for vibration suppression
control 1 when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value will be
the same as [Pr. PB19].
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
100.0 PB34 Vibration suppression control 1 - Resonance frequency
after gain switching
Set the resonance frequency for vibration suppression
control 1 when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value will be
the same as [Pr. PB20].
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
3 - 32
MR-J4-_B_
Name and function
Initial
value
0.0
0.0
0.0
0.0