Mitsubishi Electric MELSERVO-J3 Series Handbook page 72

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
MR-J3-_A_
No. Name and function
PB31 Gain changing speed loop gain
Set the speed loop gain when the gain changing is
valid.
This parameter is made valid when the auto tuning
is invalid ([Pr. PA08]: _ _ _ 3).
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.
PB32 Gain changing speed integral compensation
Set the speed integral compensation when the gain
changing is valid.
This parameter is made valid when the auto tuning
is invalid ([Pr. PA08]: _ _ _ 3).
Gain changing vibration suppression control -
PB33
vibration frequency setting
Set the vibration frequency for vibration suppression
control when the gain changing is valid. This
parameter is made valid when the [Pr. PB02] setting
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1".
When using the vibration suppression control gain
changing, always execute the changing after the
servo motor has stopped.
Gain changing vibration suppression control -
PB34
resonance frequency setting
Set the resonance frequency for vibration
suppression control when the gain changing is valid.
This parameter is made valid when the [Pr. PB02]
setting is "_ _ _ 2" and the [Pr. PB26] setting is "_ _
_ 1".
When using the vibration suppression control gain
changing, always execute the changing after the
servo motor has stopped.
Initial
No.
value
Speed loop gain after gain switching
823 PB31
Set the speed loop gain when the gain switching is
enabled.
When you set a value less than 20 rad/s, the value
will be the same as [Pr. PB09].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0 to 65535
Speed integral compensation after gain switching
33.7 PB32
Set the speed integral compensation when the gain
changing is enabled.
When you set a value less than 0.1 ms, the value
will be the same as [Pr. PB10].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].
Setting range: 0.0 to 5000.0
100.0 PB33 Vibration suppression control 1 - Vibration frequency
after gain switching
Set the vibration frequency for vibration suppression
control 1 when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value
will be the same as [Pr. PB19].
This parameter will be enabled only when the
following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.
Setting range: 0.0 to 300.0
100.0 PB34 Vibration suppression control 1 - Resonance
frequency after gain switching
Set the resonance frequency for vibration
suppression control 1 when the gain switching is
enabled.
When you set a value less than 0.1 Hz, the value
will be the same as [Pr. PB20].
This parameter will be enabled only when the
following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.
Setting range: 0.0 to 300.0
2 - 39
MR-J4-_A_
Name and function
Control
Initial
mode
value
0
P
S
0.0
P
S
0.0
P
0.0
P