Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 340

Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ
No. Name and function
PB31 Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: "_ _ _ 3").
PB32 Gain changing speed integral compensation
Set the speed integral compensation when the gain
changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: "_ _ _ 3").
PB33 Gain changing vibration suppression control vibration
frequency setting
Set the vibration frequency for vibration suppression
control when the gain changing is valid.
This parameter is made valid when the [Pr. PB02] setting
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1".
When using the vibration suppression control gain
changing, always execute the changing after the servo
motor has stopped.
PB34 Gain changing vibration suppression control resonance
frequency setting
Set the resonance frequency for vibration suppression
control when the gain changing is valid.
This parameter is made valid when the [Pr. PB02] setting
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1".
When using the vibration suppression control gain
changing, always execute the changing after the servo
motor has stopped.
MR-J3-_T_
Initial
No.
value
823 PB31 Speed loop gain after gain switching
Set the speed loop gain for when the gain switching is
enabled.
When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
Setting range: 0 to 65535
33.7 PB32 Speed integral compensation after gain switching
Set the speed integral compensation for when the gain
switching is enabled.
When you set a value less than 0.1 ms, the value will be
the same as [Pr. PB10].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
Setting range: 0.0 to 5000.0
100.0 PB33 Vibration suppression control 1 – Vibration frequency
after gain switching
Set the vibration frequency for vibration suppression
control 1 for when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value will be
the same as [Pr. PB19].
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
Setting range: 0.0 to 300.0
100.0 PB34 Vibration suppression control 1 – Resonance frequency
after gain switching
Set the resonance frequency for vibration suppression
control 1 for when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value will be
the same as [Pr. PB20].
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
Setting range: 0.0 to 300.0
6 - 61
MR-J4-_A_-RJ
Name and function
Initial
value
0
0.0
0.0
0.0