Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 147

Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ
MR-J2S-_CP_ or MR-J2S-_CL_
No. Name and function
64
Load to motor inertia ratio 2
Used to set the load to motor inertia ratio when
gain switching is enabled.
Setting range: 0 to 3000; Unit: x0.1
65
Position loop gain 2 changing ratio
Used to set the changing ratio for position loop
gain 2 when the gain switching is enabled.
This parameter is enabled when auto tuning is
disabled.
Setting range: 10 to 200
66
Speed loop gain 2 changing ratio
Used to set the changing ratio for speed loop gain
2 when the gain switching is enabled.
This parameter is enabled when auto tuning is
disabled.
Setting range: 10 to 200
67
Speed integral compensation changing ratio
Used to set the changing ratio for speed integral
compensation when the gain switching is enabled.
This parameter is enabled when auto tuning is
disabled.
Setting range: 50 to 1000
68
Gain switching selection
Select the gain switching condition.
0 0 0
Gain switching selection
Gain will be changed under the following
conditions based on the setting value of
parameters No.64 to No67.
0: Disabled
1: Gain switching (CDP) is ON.
2: The appointed frequency is more than
the setting value of parameter No. 69.
3: The droop pulse is more than the
setting value of parameter No. 69.
4: The servo motor speed is more than
the setting value of parameter No. 69.
Initial value
No.
CP CL
70 70 PB29 Load to motor inertia ratio after gain switching
Used to set the load to motor inertia ratio when gain
switching is enabled.
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0.00 to 300.00; Unit: x1.0
Note that the setting unit is different from that for MR-
J2S-_CP_.
When setting a value, set a value 0.1 x the MR-J2S-
_CP_ setting value.
100 100 PB30 Position loop gain after gain switching
When a value smaller than 1.0 rad/s is set, the value
will be the same as the setting value of [Pr. PB08].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0.0 to 2000.0
Because the setting unit is different from that for MR-
J2S-_CP_, calculate the setting value using the
equation below and set it.
[Pr. PB30] = [Pr. PB08] × MR-J2S-_CP_ [Pr. 65]/100
100 100 PB31 Speed loop gain after gain switching
When a value smaller than 20 rad/s is set, the value
will be the same as the setting value of [Pr. PB09].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0 to 65535
Because the setting unit is different from that for MR-
J2S-_CP_, calculate the setting value using the
equation below and set it.
[Pr. PB31] = [Pr. PB09] × MR-J2S-_CP_ [Pr. 66]/100
100 100 PB32 Speed integral compensation after gain switching
When a value smaller than 0.1 ms is set, the value will
be the same as the setting value of [Pr. PB10].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0.0 to 5000.0
Because the setting unit is different from that for MR-
J2S-_CP_, calculate the setting value using the
equation below and set it.
[Pr. PB32] = [Pr. PB10] × MR-J2S-_CP_ [Pr. 67]/100
0000h 0000h PB26 Gain switching function
Select the gain switching condition.
Refer to the comparison table below for the setting
method.
Gain switching selection comparison table
4 - 38
MR-J4-_A_-RJ
Name and function
MR-J2S-_CP_ MR-J4-_A_-RJ
No.68 PB26
0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 1
0 0 0 2 → 0 0 0 2
0 0 0 3 0 0 0 3
0 0 0 4 0 0 0 4
Initial
value
7.00
0.0
0
0.0
0000h