Mitsubishi Electric MELSERVO-J3 Series Manual page 118

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
No. Name and function
PB02 Vibration suppression control tuning mode
(advanced vibration suppression control)
This parameter cannot be used in the speed control
mode.
The vibration suppression is valid when the [Pr. PA08]
(auto tuning) setting is "_ _ _ 2" or "_ _ _ 3". When PA08
is [Pr. PA08] is "_ _ _ 1", vibration suppression is always
invalid.
Select the setting method for vibration suppression
control tuning. Setting this parameter to "_ _ _ 1"
(vibration suppression control tuning mode)
automatically changes the vibration suppression control
vibration frequency ([Pr. PB19]) and vibration
suppression control resonance frequency ([Pr. PB20])
after positioning is done the predetermined number of
times.
Droop pulse
Command
Machine end
position
0 0 0 x:
Vibration suppression control tuning mode
0: Vibration suppression control OFF (Automatically set
parameter (Note))
1: Vibration suppression control tuning mode (Advanced
vibration suppression control) (Automatically set
parameter: [Pr.PB19/PB20])
2: Manual mode
Note [Pr. PB19/PB20] are fixed to the initial values.
When this parameter is set to "_ _ _ 1", the tuning is
completed after positioning is done the predetermined
number or times for the predetermined period of time,
and the setting changes to "_ _ _ 2". When the vibration
suppression control tuning is not necessary, the setting
changes to "_ _ _ 0". When this parameter is set to "_ _
_ 0", the initial values are set to the vibration
suppression control vibration frequency and vibration
suppression control resonance frequency. However, this
does not occur when the servo off.
PB03 For manufacturer setting
Do not change this value by any means.
PB04 Feed forward gain
This parameter cannot be used in the speed control
mode.
Set the feed forward gain. When the setting is 100%, the
droop pulses during operation at constant speed are
nearly zero. However, sudden acceleration/deceleration
will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1 s or more as the
acceleration/deceleration time constant up to the rated
speed.
MR-J3-_B_
Droop pulse
Automatic
Command
adjustment
Machine end
position
Initial
No.
value
0000h PB02 Vibration suppression control tuning mode (advanced
vibration suppression control II)
This is used to set the vibration suppression control
tuning.
_ _ _ x:
Vibration suppression control 1 tuning mode selection
Select the tuning mode of the vibration suppression
control 1.
0: Disabled
1: Automatic setting
2: Manual setting
_ _ x _ :
Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression
control 2. To enable the digit, select "3 inertia mode (_ _
_ 1)" of "Vibration suppression mode selection" in [Pr.
PA24 Function selection A-4].
0: Disabled
1: Automatic setting
2: Manual setting
_ x _ _ :
For manufacturer setting
x _ _ _ :
For manufacturer setting
0 PB03 Torque feedback loop gain
This is used to set a torque feedback loop gain in the
continuous operation to torque control mode.
Decreasing the setting value will also decrease a
collision load during continuous operation to torque
control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
0 PB04
Same as MR-J3
Feed forward gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. When the
super trace control is enabled, constant speed and
uniform acceleration/deceleration droop pulses will be
almost 0. However, sudden acceleration/deceleration will
increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more as the
acceleration time constant up to the rated speed.
3 - 25
MR-J4-_B_
Name and function
Initial
value
0h
0h
0h
0h
18000
0