Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 177

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B
No. Name and function
PA08 Auto tuning mode
This parameter cannot be used in the torque control
mode.
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.
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
The parameters have the following names
Parameter No.
PB06 Load to motor inertia moment ratio
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
PA09 Auto tuning response
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
value
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
MR-J3W-_B
.
Name
Guideline for
machine
Setting
Response resonance
value
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
Initial
No.
value
0001h PA08 Auto tuning mode
Select a gain adjustment mode.
_ _ _ x:
Gain adjustment mode selection
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 4.2 for details.
Table 4.2 Gain adjustment mode selection
Setting Gain adjustment
value
_ _ _ 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
12 PA09 Auto tuning response
Set a response of the auto tuning.
Machine characteristic
Setting
value Response
Low
1
response
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Middle
20
response
4 - 28
MR-J4W2-_B
Name and function
Automatically adjusted parameter
mode
[Pr. PB06 Load to motor inertia ratio/load
to motor mass ratio]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB06 Load to motor inertia ratio/load
to motor mass 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
Guideline
Setting
for machine for machine
resonance value Respoznse resonance
frequency
[Hz]
Middle
2.7 21
response
3.6 22
4.9 23
6.6 24
10.0 25
11.3 26
12.7 27
14.3 28
16.1 29
18.1 30
20.4 31
23.0 32
25.9 33
29.2 34
32.9 35
37.0 36
41.7 37
47.0 38
52.9 39
High
59.6 40
response
Initial
value
1h
0h
0h
0h
16
Guideline
frequency
[Hz]
67.1
75.6
85.2
95.9
108.0
121.7
137.1
154.4
173.9
195.9
220.6
248.5
279.9
315.3
355.1
400.0
446.6
501.2
571.5
642.7