Mitsubishi Electric MELSERVO-J3 Series Handbook page 57

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
PA08 Auto tuning mode
PA09 Auto tuning response
Make gain adjustment using auto tuning.
Auto tuning mode [Pr. PA08]
Select the gain adjustment mode.
0 0 0 x:
Gain adjustment mode setting
0: Interpolation mode (Automatically set parameter
No. [Pr. PB06/PB08/PB09/PB10])
1: Auto tuning mode 1 (Automatically set parameter
No. [Pr. PB06/ PB07/PB08/PB09/PB10])
2: Auto tuning mode 2 (Automatically set parameter
No. [Pr. PB07/PB08/PB09/PB10])
3: Manual mode
Note. The parameters have the following names.
No.
Ratio of load inertia moment to servo
PB06
motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
Auto tuning response [Pr. PA09]
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
12
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
MR-J4-_A_
No. Name and function
PA08
Same setting as MR-J3
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 2.2 for details.
Table2.2 Gain adjustment mode selection
Setting Gain adjustment
value 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
_ _ x _:
For manufacturer setting
_ x _ _:
For manufacturer setting
x _ _ _:
For manufacturer setting
PA09 Auto tuning response
Set a response of the auto tuning.
Machine characteristic
Setting Guideline for
value machine
Response
resonance
frequency [Hz]
Low
1 2.7
response
2 3.6
4.9
3
6.6
4
10.0
5
6 11.3
12.7
7
14.3
8
16.1
9
10 18.1
20.4
11
23.0
12
25.9
13
14 29.2
32.9
15
37.0
16
41.7
17
18 47.0
52.9
19
Middle
20 59.6
response
Setting range: 1 to 40
2 - 24
value
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
Setting Guideline for
value machine
Response
resonance
frequency [Hz]
Middle
21 67.1
response
22 75.6
85.2
23
95.9
24
108.0
25
26 121.7
137.1
27
154.4
28
173.9
29
30 195.9
220.6
31
248.5
32
279.9
33
34 315.3
355.1
35
400.0
36
446.6
37
38 501.2
571.5
39
High
40 642.7
response
Control
Initial
mode
1h P
S
0h
0h
0h
16 P
S