Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 333

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
PB02 Vibration suppression control tuning mode (advanced
vibration suppression control)
The vibration suppression is valid when the [Pr. PA08]
(auto tuning) setting is "_ _ _ 2" or "_ _ _ 3". When [Pr.
PA08] is "_ _ _ 1", vibration suppression is always invalid.
Select the setting method for vibration suppression
control tuning. Setting this parameter to "_ _ _ 1"
(vibration suppression control tuning mode) automatically
changes the vibration suppression control - vibration
frequency ([Pr. PB19]) and vibration suppression control
- resonance frequency ([Pr. PB20]) after positioning is
done the predetermined number of times.
Droop pulse
Command
Machine end
position
0 0 0 x:
Vibration suppression control tuning mode
0: Vibration suppression control OFF ([Pr. PB19] and [Pr.
PB20] are fixed to the initial values.)
1: Vibration suppression control tuning mode (Advanced
vibration suppression control)
(Automatically set parameter [Pr. PB19]/[Pr. PB20])
2: Manual mode
When this parameter is set to "_ _ _ 1", the tuning is
completed after positioning is done the predetermined
number or times for the predetermined period of time,
and the setting changes to "_ _ _ 2". When the vibration
suppression control tuning is not necessary, the setting
changes to "_ _ _ 0". When this parameter is set to "_ _ _
0", the initial values are set to the vibration suppression
control - vibration frequency and vibration suppression
control - resonance frequency. However, this does not
occur when the servo off.
PB04 Feed forward gain
Set the feed forward gain. When the setting is 100%, the
droop pulses during operation at constant speed are
nearly zero. However, sudden acceleration/deceleration
will increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more as the
acceleration/deceleration time constant up to the rated
speed.
Droop pulse
Automatic
adjustment Command
Machine end
position
Initial
No.
value
0000h PB02 Vibration suppression control tuning mode (advanced vibration
suppression control II)
Vibration suppression control 1 tuning mode selection
Select the tuning mode of the vibration suppression
control 1. For details, refer to section 7.1.5 of "MR-J4-
_A_(-RJ) Servo Amplifier Instruction Manual".
_ _ _ x:
0: Disabled
1: Automatic setting
2: Manual setting
_ _ x _:
Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression
control 2. To enable the digit, select "3 inertia mode (_ _
_ 1)" of "Vibration suppression mode selection" in [Pr.
PA24]. For details, refer to section 7.1.5 of "MR-J4-_A_(-
RJ) Servo Amplifier Instruction Manual".
0: Disabled
1: Automatic setting
2: Manual setting
_ x _ _:
For manufacturer setting
x _ _ _:
For manufacturer setting
0 PB04 Feed forward gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. However,
sudden acceleration/deceleration will increase the
overshoot. As a guideline, when the feed forward gain
setting is 100%, set 1 s or more as the acceleration time
constant up to the rated speed.
Setting range: 0 to 100
6 - 54
MR-J4-_A_-RJ
Name and function
Initial
value
0h
0h
0h
0h
0