Mitsubishi Electric MELSERVO-J3 Series Manual page 67

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
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.
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
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 parameter 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
1 PB28
Same as MR-J3
Gain switching time constant
This is used to 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
Same as MR-J3
load to motor mass ratio after gain switching
This is used to set the load to motor inertia ratio/load
to motor mass ratio when gain switching is enabled.
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.00 to 300.00 Unit: 1.0 time
37 PB30 Position loop gain after gain switching
Set the position loop gain 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 "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.0 to 2000.0
2 - 38
MR-J4-_A_
Name and function
Control
Initial
mode
value
0h P
S
0h P
S
0h P
S
0h
10 P
S
P
1
S
P
7.00
S
P
0.0