Mitsubishi Electric MELSERVO-J3 Series Handbook page 117

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
MR-J3-_B_
No. Name and function
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.
(Note) [Pr. PB06/PB08/PB09/PB10])
1: Auto tuning mode 1 (Automatically set parameter No.
(Note) [Pr. PB06/PB07/PB08/PB09/PB10])
2: Auto tuning mode 2 (Automatically set parameter No.
[Pr. PB07/PB08/PB09/PB10])
3: Manual mode
Note. The parameters have the following names.
Parameter
No.
Ratio of load inertia moment to servo
PB06
motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
PA09 Auto tuning response
If the machine hunts or generates large gear sound,
decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Guideline for
machine
Setting
Response
resonance
value
frequency
[Hz]
Low
1 10.0
response
2 11.3
3 12.7
4 14.3
5 16.1
6 18.1
7 20.4
8 23.0
9 25.9
10 29.2
11 32.9
12 37.0
13 41.7
14 47.0
15 52.9
Middle
16 59.6
response
PA10 In-position range
This parameter cannot be used in the speed control
mode.
Set the range, where in position (INP) is output, in the
command pulse unit.
Command pulse
Droop pulse
ON
In position (INP)
OFF
Name
Guideline for
machine
Setting
Response
resonance
value
frequency
[Hz]
Middle
17 67.1
response
18 75.6
19 85.2
20 95.9
21 108.0
22 121.7
23 137.1
24 154.4
25 173.9
26 195.9
27 220.6
28 248.5
29 279.9
30 315.3
31 355.1
High
32 400.0
response
Servo motor droop pulse
Command pulse
In-position range [pulse]
Initial
No.
value
0001h PA08
Same setting as MR-J3
Auto tuning response
Set a response of the auto tuning.
_ _ _ 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
_ _ x _ :
For manufacturer setting
_ x _ _ :
For manufacturer setting
x _ _ _ :
For manufacturer setting
12 PA09 Auto tuning response
Set a response of the auto tuning.
Machine characteristic
Setting
value
Response
Low
1
response
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Middle
20
response
100 PA10 In-position range
Set an in-position range per command pulse.
3 - 20
MR-J4-_B_
Name and function
Machine characteristic
Guideline Guideline
Setting
for machine for machine
value
resonance Respoznse resonance
frequency frequency
[Hz]
Middle
2.7 21
response
3.6 22
4.9 23
6.6 24
10.0 25 108.0
11.3 26 121.7
12.7 27 137.1
14.3 28 154.4
16.1 29 173.9
18.1 30 195.9
20.4 31 220.6
23.0 32 248.5
25.9 33 279.9
29.2 34 315.3
32.9 35 355.1
37.0 36 400.0
41.7 37 446.6
47.0 38 501.2
52.9 39 571.5
High
59.6 40 642.7
response
Initial
value
1h
0h
0h
0h
16
[Hz]
67.1
75.6
85.2
95.9
1600