Mitsubishi Electric MELSERVO-J3 Series Handbook page 176

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B
No. Name and function
PB02 Vibration suppression control tuning mode (advanced
vibration suppression control)
Used to set the tuning mode for the vibration
suppression control.
0 0 0 x:
Vibration suppression control tuning mode
0: Invalid
1: Cannot be set
2: Manual setting
If "_ _ _ 1" is set for this parameter, it is automatically
rewritten as "_ _ _0".
PB03 This parameter is not used. Do not change the value.
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 1s or more as the
acceleration time constant up to the rated speed.
PB06 Load to motor inertia moment ratio
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.
When [Pr. PA08] is set to "_ _ _ 2" or "_ _ _ 3" , this
parameter can be set manually.
MR-J3W-_B
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.
All axes cannot be simultaneously enabled for this
function. Set for each axis to use.
_ _ _ 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
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 Feed forward gain
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 time
constant up to the rated speed.
7.0 PB06 Load to motor inertia ratio/load to motor mass ratio
Set a load to motor inertia ratio or load to motor mass
ratio. Setting a value considerably different from the
actual load moment of inertia or load mass may cause
an unexpected operation such as an overshoot.
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.
Pr. PA08
_ _ _ 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)
4 - 31
MR-J4W2-_B
Name and function
This parameter
Automatic setting
Manual setting
Initial
value
0h
0h
0h
0h
18000
0
7.00