Mitsubishi Electric MELSERVO-J3 Series Manual page 164

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B
No. Name and function
PA04 Function selection A-1
Turn off the power and then on again, or reset the
controller after setting the
parameter to validate the parameter value.
The servo forced stop function is avoidable.
0 x 0 0:
Selection of servo forced stop
0: Valid (Forced stop (EM1) is used.)
1: Invalid (Forced stop (EM1) is not used.)
When not using the forced stop (EM1) of servo amplifier,
set the selection of servo forced stop to Invalid (_ 1 _ _) .
At this time, the forced stop (EM1) automatically turns on
inside the servo amplifier.
PA08 Auto tuning mode
This parameter cannot be used in the torque control
mode.
Make gain adjustment using auto tuning.
Auto tuning mode ([Pr. PA08])
Select the gain adjustment mode.
0 0 0 x:
Gain adjustment mode setting
0: Interpolation mode (Automatically set parameter No.
PB06/PB08/PB09/PB10])
1: Auto tuning mode 1 (Automatically set parameter No.
[Pr. PB06/ PB07/PB08/PB09/PB10])
2: Auto tuning mode 2 (Automatically set parameter No.
[Pr. PB07/ PB08/PB09/PB10])
3: Manual mode
The parameters have the following names
Parameter No.
PB06 Load to motor inertia moment ratio
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
MR-J3W-_B
.
Name
Initial
No.
value
Function selection A-1
0000h PA04
Select a forced stop input and forced stop deceleration
function.
_ _ _ x:
For manufacturer setting
_ _ x _ :
For manufacturer setting
_ x _ _ :
Servo forced stop selection
0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not
used.)
Refer to table 4.1 for details.
x _ _ _ :
Forced stop deceleration function selection
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 4.1 for details.
Table 4.1 Deceleration method
Setting
EM2/EM1
value
0 0 _ _ EM1
2 0 _ _ EM2
0 1 _ _ Not using
EM2 and
EM1
2 1 _ _ Not using
EM2 and
EM1
0001h PA08 Auto tuning mode
Select a gain adjustment mode.
_ _ _ x:
Gain adjustment mode selection
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
Refer to table 4.2 for details.
Table 4.2 Gain adjustment mode selection
Setting
Gain adjustment
value
mode
_ _ _ 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
_ _ x _ :
For manufacturer setting
_ x _ _ :
For manufacturer setting
x _ _ _ :
For manufacturer setting
4 - 21
MR-J4W2-_B
Name and function
Deceleration method
EM2 or EM1 is off Alarm occurred
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
without the forced stop without the forced stop
deceleration. deceleration.
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
after the forced stop after the forced stop
deceleration. deceleration.
MBR (Electromagnetic
brake interlock) turns off
without the forced stop
deceleration.
MBR (Electromagnetic
brake interlock) turns off
after the forced stop
deceleration.
Automatically adjusted parameter
[Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
Initial
value
0h
0h
0h
2h
1h
0h
0h
0h