Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 74

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
PB25 Function selection B-1
Select the control systems for position command
acceleration/deceleration time constant ([Pr. PB03]).
0 0 x 0:
Control of position command acceleration/
deceleration time constant
0: Primary delay
1: Linear acceleration/deceleration
When linear acceleration/deceleration is selected,
do not execute control switching after
instantaneous power failure. The servo motor will
make a sudden stop during the control switching
or automatic restart.
PB26 Gain changing selection
Select the gain changing condition.
0 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: Invalid
1: Input device (Gain changing (CDP))
2: Command frequency ([Pr. PB27] setting)
3: Droop pulse ([Pr. PB27] setting)
4: Servo motor speed ([Pr. PB27] setting)
_ _ x _:
Gain changing condition
0: Valid when the input device (gain changing
(CDP)) is ON, or valid when the value is equal to
or larger than the value set in [Pr. PB27]
1: Valid when the input device (gain changing
(CDP)) is OFF, or valid when the value is equal
to or smaller than the value set in [Pr. PB27]
_ x _ _:
For manufacturer setting
Do not change this value by any means.
x _ _ _:
For manufacturer setting
Do not change this value by any means.
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.
Initial
No.
value
0000h PB25 Function selection B-1
_ _ _ x:
Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
This digit is supported with software version B4 or
later.
_ _ x _:
Position acceleration/deceleration filter type
selection
Select the position acceleration/deceleration filter
type.
0: Primary delay
1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration",
do not switch the control mode. Doing so will cause
the servo motor to make a sudden stop at the time
of control mode switching.
_ x _ _:
For manufacturer setting
x _ _ _:
For manufacturer setting
PB26 Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values
0h
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
3: Droop pulses
4: Servo motor speed
0h _ _ 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 _ _:
Gain switching time constant disabling condition
0h
selection
0: Switching time constant enabled
1: Switching time constant disabled
0h 2: Return time constant disabled
This digit is used by servo amplifier with software
version B4 or later.
x _ _ _:
For manufacturer setting
10 PB27
Same as MR-J3
Gain switching condition
This is used to set the value of gain switching
(command frequency, droop pulses, and servo
motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching
condition item.
Setting range: 0 to 9999
2 - 39
MR-J4-_A_
Name and function
Control
Initial
mode
value
0h P
0h P
0h
0h
0h P
S
0h P
S
0h P
S
0h
10 P
S