Mitsubishi Electric Melservo MR-J3-100B, Handbook

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
3 - 13
3.6.1 Setting requisite parameters upon replacement
The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used amplifier, parameters other than
these may need to be set.
Parameter
number
Name Precautions
PA01 Control type selection
MR-J4 has servo motors whose initial settings are 350%. Refer to Part 7
"Review on Replacement of Motor" and check the operation.
PA02 Regenerative option selection The setting value must be changed according to the option model.
PA04
Function selection A-1
Servo forced stop selection
Forced stop deceleration function selection
To configure the same settings as for MR-J3-_B_, select "Forced stop
deceleration function disabled (with EM1 used)".
PA08 Gain adjustment mode selection The setting value needs to be changed according to the auto tuning mode.
PA09 Auto tuning response
Auto tuning response setting
Enter this setting value for replacement, referring to "3.6.3 Comparison of
parameter details". It is necessary to make gain adjustment again when
replacing.
For details on how to make gain adjustments, refer to Chapter 6 of the
MRJ4-_B_ Servo Amplifier Instruction Manual. The setting value needs be
changed based on the standard machine resonance frequency.
PA10 In-position range The setting needs to be changed depending on the motor.
PA15 Encoder output pulse
Used to set the encoder pulses (A-phase and B-phase) output by the servo
amplifier.
PA19 Parameter writing inhibit
Change the setting value as necessary.
PB06 Load to motor inertia ratio
The unit system is different. (0.1-fold → 0.01-fold) Pay attention to setting
value.
PB07 Model loop gain The unit system is different. (rad/s → 0.1 rad/s)
PB08 Position loop gain The unit system is different. (rad/s → 0.1 rad/s)
PB13 Machine resonance suppression filter 1
Change the setting value according to the frequency and depth.
PB14 Notch shape selection 1
PB15 Machine resonance suppression filter 2
Change the setting value according to the frequency and depth.
PB16 Notch shape selection 2
PB29
Load to motor inertia ratio after gain
switching
The unit system is different. (0.1-fold → 0.01-fold) Pay attention to setting
value.
PB30 Position loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
PB31 Speed loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
PB32
Speed integral compensation after gain
switching
It is necessary to convert the ratio to a value to change the setting value.
PC09 Analog monitor 1 output The setting value must be changed according to monitor output data.
"Maximum speed" and "Maximum torque" differ depending on the motor.
Set according to the motor.
PC10 Analog monitor 2 output
PC11 Analog monitor 1 offset Depends on hardware. It is necessary to change the setting value.
PC12 Analog monitor 2 offset Depends on hardware. It is necessary to change the setting value.