Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 75

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
PB28 Gain changing time constant
Used to set the time constant at which the gains will
change in response to the conditions set in [Pr.
PB26] and [Pr. PB27].
PB29 Gain changing ratio of load inertia moment to servo
motor inertia moment
Used to set the ratio of load inertia moment to servo
motor inertia moment when gain changing is valid.
This parameter is made valid when the auto tuning
is invalid ([Pr. PA08]: _ _ _ 3).
PB30 Gain changing position loop gain
Set the position loop gain when the gain changing is
valid.
This parameter is made valid when the auto tuning
is invalid ([Pr. PA08]: _ _ _ 3).
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).
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.
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).
Initial
No.
value
1 PB28
Same as MR-J3
Gain switching time constant
This is used to set the time constant at which the
gains will change in response to the conditions set in
[Pr. PB26] and [Pr. PB27].
Setting range: 0 to 100
7.0 PB29
Same as MR-J3
load to motor mass ratio after gain switching
This is used to set the load to motor inertia ratio/load
to motor mass ratio when gain switching is enabled.
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.00 to 300.00 Unit: 1.0 time
37 PB30 Position loop gain after gain switching
Set the position loop gain when the gain switching is
enabled.
When you set a value less than 1.0 rad/s, the value
will be the same as [Pr. PB08].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.0 to 2000.0
823 PB31 Speed loop gain after gain switching
Set the speed loop gain 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 "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0 to 65535
33.7 PB32 Speed integral compensation after gain switching
Set the speed integral compensation when the gain
changing 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 "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.0 to 5000.0
2 - 40
MR-J4-_A_
Name and function
Control
Initial
mode
value
1 P
S
7.00 P
S
0.0 P
0 P
S
0.0 P
S