Mitsubishi Electric MELSERVO-J3 Series Manual page 61

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 2 is selected, the result
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 2 and interpolation
mode is selected, the result of auto tuning is
automatically used.
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 2, manual mode and
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.
Initial
No.
value
7.0 PB06 Load to motor inertia ratio/load to motor mass ratio
Set the load to motor inertia ratio or load to motor
mass 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.
Setting range: 0.00 to 300.00
24 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.
Setting range: 1.0 to 2000.0
37 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.
Setting range: 1.0 to 2000.0
823 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
2 - 32
MR-J4-_A_
Name and function
Control
Initial
mode
value
7.00 P
S
15.0 P
37.0 P
823 P
S