Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 334

Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ
No. Name and function
PB06 Ratio of load inertia moment to servo motor inertia
moment
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.
In this case, it varies between 0 and 100.0.
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.
PB08 Position loop gain
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.
MR-J3-_T_
2, is selected, the result of
2, and interpolation mode is
Initial
No.
value
7.0 PB06 Load to motor inertia ratio/load to motor mass ratio
This is used to set the load to motor inertia ratio or load
to motor mass 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.
Setting range: 0.00 to 300.00
_ _ _ 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 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.
Setting range: 1.0 to 2000.0
_ _ _ 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 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.
Setting range: 1.0 to 2000.0
_ _ _ 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)
6 - 55
MR-J4-_A_-RJ
Name and function
Pr. PA08 This parameter
Automatic setting
Manual setting
Pr. PA08 This parameter
Manual setting
Automatic setting
Manual setting
Pr. PA08 This parameter
Automatic setting
Manual setting
Automatic setting
Initial
value
7.00
15.0
37.0