Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 328

Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ
MR-J3-_T_
No. Name and function
PA08 Auto tuning mode
Make gain adjustment using auto tuning.
Select the gain adjustment mode.
0 0 0 x:
Gain adjustment mode setting
0: Interpolation mode (Automatically set parameter No.
[Pr. PB06]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10])
1: Auto tuning mode 1 (Automatically set parameter No.
[Pr. PB06]/[Pr. PB07]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10])
2: Auto tuning mode 2 (Automatically set parameter No.
[Pr. PB07]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10])
The parameters have the following names.
No.
PB06 Ratio of load inertia moment to servo motor
inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
PA09 Auto tuning response
If the machine hunts or generates large gear sound,
decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Guideline for
machine
Setting Response
resonance
frequency [Hz]
Low
1 10.0
response
2 11.3
3 12.7
4 14.3
5 16.1
6 18.1
7 20.4
8 23.0
9 25.9
10 29.2
11 32.9
12 37.0
13 41.7
14 47.0
15 52.9
Middle
16 59.6
response
Initial
value
0001h
Name
Guideline for
machine
Setting Response
resonance
frequency [Hz]
Middle
17 67.1
response
18 75.6
19 85.2
20 95.9
21 108.0
22 121.7
23 137.1
24 154.4
25 173.9
26 195.9
27 220.6
28 248.5
29 279.9
30 315.3
31 355.1
High
32 400.0
response
No.
PA08 Auto tuning mode
_ _ _ x:
Gain adjustment mode selection
Select the gain adjustment mode.
0: 2 gain adjustment mode 1 (interpolation mode)
1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
Refer to table 6.2 for details.
_ _ x _:
For manufacturer setting
_ x _ _:
For manufacturer setting
x _ _ _:
For manufacturer setting
Table 6.2 Gain adjustment mode selection
Setting
Gain adjustment mode
value
_ _ _ 0 2 gain adjustment
mode 1 (interpolation
mode)
_ _ _ 1 Auto tuning mode 1
_ _ _ 2 Auto tuning mode 2
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment
mode 2
12 PA09 Auto tuning response
Set the auto tuning response.
Machine characteristic
Setting
value
Response
Low
1
response
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Middle
20
response
Setting range: 1 to 40
6 - 49
MR-J4-_A_-RJ
Name and function
Automatically adjusted parameter
[Pr. PB06 Load to motor inertia ratio]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB06 Load to motor inertia ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
Machine characteristic
Guideline for Guideline for
Setting
machine machine
value
Response
resonance resonance
frequency [Hz] frequency [Hz]
Middle
67.1
2.7 21
response
3.6 75.6
22
4.9 85.2
23
6.6 95.9
24
10.0 25 108.0
11.3 121.7
26
12.7 137.1
27
14.3 154.4
28
16.1 29 173.9
18.1 195.9
30
20.4 220.6
31
23.0 248.5
32
25.9 33 279.9
29.2 315.3
34
32.9 355.1
35
37.0 400.0
36
41.7 37 446.6
47.0 501.2
38
52.9 571.5
39
High
642.7
59.6 40
response
Initial
value
1h
0h
0h
0h
16