Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 68

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
Ratio of load inertia moment to servo motor inertia
PB06
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.
Model loop gain
PB07
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
of auto turning is automatically used.
Position loop gain
PB08
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
mode is selected, the result of auto tuning is
automatically used.
Initial
value
7.0
24
2 is selected, the result
37
2 and interpolation
MR-J4-_A_
No. Name and function
Load to motor inertia ratio
PB06
Set the load to motor inertia ratio.
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)
Setting range: 0.00 to 300.00
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.
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)
Setting range: 1.0 to 2000.0
PB08
Same setting as MR-J3
Position loop gain
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)
Setting range: 1.0 to 2000.0
2 - 33
Control
Initial
mode
value
7.00
This parameter
Automatic setting
Manual setting
15.0
This parameter
Manual setting
Automatic setting
Manual setting
37.0
This parameter
Automatic setting
Manual setting
Automatic setting
P
S
P
P