Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 69

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
Speed loop gain
PB09
Used to set the gain of the speed loop.
Set this parameter when vibration occurs on
machines of low rigidity or large backlash.
Higher setting increases the response level but is
liable to generate vibration and/or noise.
When auto tuning mode 1
interpolation mode is selected, the result of auto
tuning is automatically used.
Note. The setting range of 50000 applies to the
servo amplifier whose software version is A3
or later. The setting range of the servo
amplifier whose software version is older than
A3 is 20 to 20000. When the software version
of Setup software (SETUP221E) is A3 or
earlier, 20001 or more cannot be set. Use the
display/operation section of the servo amplifier
to set 20001 or more.
Speed integral compensation
PB10
Used to set the integral time constant of the speed
loop.
Lower 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.
Speed differential compensation
PB11
Used to set the differential compensation.
Made valid when the proportion control (PC) is
switched on.
For manufacturer setting
PB12
Machine resonance suppression filter 1
PB13
Set the notch frequency of the machine resonance
suppression filter 1.
Setting [Pr. PB01] (Adaptive tuning mode (Adaptive
filter II)) to "_ _ _1" automatically changes this
parameter.
When the [Pr. PB01] setting is "_ _ _0", the setting
of this parameter is ignored.
Initial
value
823
2, manual mode and
33.7
2 and interpolation
980
0
4500
MR-J4-_A_
No. Name and function
PB09
Same setting as MR-J3
Speed loop gain
Set the gain of the speed loop.
Set this parameter when vibration occurs on
machines of low rigidity or large backlash.
Increasing the setting value will also increase the
response level 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 table of [Pr. PB08] for
details.
Setting range: 20 to 65535
PB10
Same setting as MR-J3
Speed integral compensation
Set the integral time constant of the speed loop.
Decreasing the setting value will increase the
response level 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 table of [Pr. PB08] for
details.
Setting range: 0.1 to 1000.0
PB11 Speed differential compensation
Set the differential compensation.
To enable the setting value, turn on PC (proportional
control).
Setting range: 0 to 1000
PB12 Overshoot amount compensation
Set a dynamic friction torque friction torque in
percentage to the servo motor rated speed.
When the response level is low or when the torque
is limited, the efficiency of the parameter may be
lower.
Setting range: 0 to 100
PB13 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance
suppression filter 1.
When "Filter tuning mode selection" is set to
"Automatic setting (_ _ _ 1)" in [Pr. PB01], this
parameter will be adjusted automatically by adaptive
tuning.
When "Filter tuning mode selection" is set to
"Manual setting (_ _ _ 2)" in [Pr. PB01], the setting
value will be enabled.
Setting range: 10 to 4500
2 - 34
Control
Initial
mode
value
823 P
S
33.7 P
S
980 P
S
0 P
4500 P
S
T