Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 339

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
PB26 Gain changing selection
Select the gain changing condition.
0 0 _ x:
Gain changing selection
Under any of the following conditions, the gains change
on the basis of the [Pr. PB29] to [Pr. PB34] settings.
0: Disabled
1: Gain changing (CDP) is ON
2: Command frequency ([Pr. PB27] setting)
3: Droop pulse value ([Pr. PB27] setting)
4: Servo motor speed ([Pr. PB27] setting)
0 0 x _:
Gain changing condition
0: Valid at more than condition (Valid when gain
changing (CDP) is ON)
1: Valid at less than condition (Valid when gain changing
(CDP) is OFF)
PB27 Gain changing condition
Used to set the value of gain changing condition
(command frequency, droop pulses, servo motor speed)
selected in [Pr. PB26]. The set value unit changes with
the changing condition item.
PB28 Gain changing time constant
Used to set the time constant at which the gains will
change in response to the conditions set in [Pr. PB26]
and [Pr. PB27].
PB29 Gain changing ratio of load inertia moment to servo
motor inertia moment
Used to set the ratio of load inertia moment to servo
motor inertia moment when gain changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: "_ _ _ 3").
PB30 Gain changing position loop gain
Set the position loop gain when the gain changing is
valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: "_ _ _ 3").
Initial
No.
value
0000h PB26 Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in [Pr.
PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
_ _ _ x:
Gain switching selection
0: Disabled
1: Input device (gain switching (CDP))
2: Command frequency (Note)
3: Droop pulses
4: Servo motor speed
Note. This will be a frequency of the servo motor side
(load side for the fully closed loop control)
command pulse unit.
_ _ x _:
Gain switching condition selection
0: Gain after switching is enabled with gain switching
condition or more
1: Gain after switching is enabled with gain switching
condition or less
_ x _ _:
For manufacturer setting
x _ _ _:
For manufacturer setting
10 PB27 Gain switching condition
This is used to set the value of gain switching (command
frequency, droop pulses, and servo motor speed/linear
servo motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching
condition item. (Refer to "MR-J4-_A_(-RJ) Servo
Amplifier Instruction Manual" section 7.2.3.)
Setting range: 0 to 9999
1 PB28 Gain switching time constant
Set the time constant at which the gains will change in
response to the conditions set in [Pr. PB26] and [Pr.
PB27].
Setting range: 0 to 100
7.0 PB29 Load to motor inertia ratio/load to motor mass ratio after
gain switching
Set the load to motor inertia ratio/load to motor mass
ratio for when gain switching is enabled.
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
Setting range: 0.00 to 300.00
37 PB30 Position loop gain after gain switching
Set the position loop gain for when the gain switching is
enabled.
When you set a value less than 1.0 rad/s, the value will
be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
Setting range: 0.0 to 2000.0
6 - 60
MR-J4-_A_-RJ
Name and function
Initial
value
0h
0h
0h
0h
10
1
7.00
0.0