Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 126

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
No. Name and function
PB06 Load to motor inertia ratio
Used to set the ratio of the load inertia moment to the
servo motor shaft inertia moment. When auto tuning
mode 1 and interpolation mode is selected, the result of
auto tuning is automatically used.
When [Pr. PA08] is set to "_ _ _ 2" or "_ _ _ 3", this
parameter can be set manually.
PB07 Model loop gain
Set the response gain up to the target position.
Increase the gain to improve track ability in response to
the command.
When auto turning mode 1
auto turning is automatically used.
When [Pr. PA08] is set to "_ _ _ 0" or "_ _ _ 3", this
parameter can be set manually.
PB08 Position loop gain
This parameter cannot be used in the speed control
mode.
Used to set the gain of the position loop.
Set this parameter to increase the position response to
level load disturbance. Higher setting increases the
response level but is liable to generate vibration and/or
noise.
When auto tuning mode 1
selected, the result of auto tuning is automatically used.
When [Pr. PA08] is set to " _ _ _ 3", this parameter can
be set manually.
MR-J3-_B_
2 is selected, the result of
2 and interpolation mode is
Initial
No.
value
7.0 PB06
Same setting as MR-J3
Load to motor inertia ratio
This is used to set the load to motor inertia ratio. Setting
a value considerably different from the actual load
moment of inertia may cause an unexpected operation
such as an overshoot.
The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details. When the
parameter is automatic setting, the value will vary
between 0.00 and 100.00.
Pr. PA08
_ _ _ 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)
24 PB07
Same setting as MR-J3
Model loop gain
Set the response gain up to the target position.
Increasing the setting value will also increase the
response level to the position command but will be liable
to generate vibration and noise.
The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details.
Pr. PA08
_ _ _ 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)
37 PB08
Same as MR-J3
Position loop gain
This is used to set the gain of the position loop.
Set this parameter to increase the position response to
level load disturbance.
Increasing the setting value will also increase the
response level to the load disturbance but will be liable to
generate vibration and noise.
The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details.
Pr. PA08
_ _ _ 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)
3 - 25
MR-J4-_B_
Name and function
This parameter
Automatic setting
Manual setting
This parameter
Manual setting
Automatic setting
Manual setting
This parameter
Automatic setting
Manual setting
Automatic setting
Initial
value
7.00
15.0
37.0