Setting Requisite Parameters Upon Replacement - Mitsubishi Electric MELSERVO-J4 Series Transition Handbook

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

3.6.1 Setting requisite parameters upon replacement

The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used amplifier, parameters other than
these may need to be set.
Parameter
number
PA01 Control type selection
PA02 Regenerative option selection
Function selection A-1
PA04
Servo forced stop selection
PA08 Gain adjustment mode selection
PA09 Auto tuning response
PA10 In-position range
PA15 Encoder output pulse
PA19 Parameter writing inhibit
PB06 Load to motor inertia ratio
PB07 Model loop gain
PB08 Position loop gain
PB13 Machine resonance suppression filter 1
PB14 Notch shape selection 1
PB15 Machine resonance suppression filter 2
PB16 Notch shape selection 2
Load to motor inertia ratio after gain
PB29
switching
PB30 Position loop gain after gain switching
PB31 Speed loop gain after gain switching
Speed integral compensation after gain
PB32
switching
PC09 Analog monitor 1 output
PC10 Analog monitor 2 output
PC11 Analog monitor 1 offset
PC12 Analog monitor 2 offset
Name
MR-J4-_B_ has servo motors whose initial settings are 350%. Refer to Part 8
"Review on Replacement of Motor" and check the operation.
The setting value must be changed according to the option model.
Forced stop deceleration function selection
To configure the same settings as for MR-J3-_B_, select "Forced stop
deceleration function disabled (with EM1 used)".
The setting value needs to be changed according to the auto tuning mode.
Auto tuning response setting
Enter this setting value for replacement, referring to "3.6.3 Comparison of
parameter details". It is necessary to make gain adjustment again when
replacing.
For details on how to make gain adjustments, refer to Chapter 6 of the
MRJ4-_B_ Servo Amplifier Instruction Manual. The setting value needs be
changed based on the standard machine resonance frequency.
The setting needs to be changed depending on the motor.
Used to set the encoder pulses (A-phase and B-phase) output by the servo
amplifier.
Change the setting value as necessary.
The unit system is different. (0.1-fold → 0.01-fold) Pay attention to setting
value.
The unit system is different. (rad/s → 0.1 rad/s)
The unit system is different. (rad/s → 0.1 rad/s)
Change the setting value according to the frequency and depth.
Change the setting value according to the frequency and depth.
The unit system is different. (0.1-fold → 0.01-fold) Pay attention to setting
value.
It is necessary to convert the ratio to a value to change the setting value.
It is necessary to convert the ratio to a value to change the setting value.
It is necessary to convert the ratio to a value to change the setting value.
The setting value must be changed according to monitor output data.
"Maximum speed" and "Maximum torque" differ depending on the motor.
Set according to the motor.
Depends on hardware. It is necessary to change the setting value.
Depends on hardware. It is necessary to change the setting value.
Precautions
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