Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 117 / 590

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
3 - 20
MR-J3-_B_ MR-J4-_B_
No. Name and function
Initial
value
No. Name and function
Initial
value
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.
Name
PB06
Ratio of load inertia moment to servo
motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
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 1h
_ _ x _ :
For manufacturer setting 0h
_ x _ _ :
For manufacturer setting 0h
x _ _ _ :
For manufacturer setting 0h
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.
Setting
value
Response
Guideline for
machine
resonance
frequency
[Hz]
Setting
value
Response
Guideline for
machine
resonance
frequency
[Hz]
1
Low
response
10.0 17 Middle
response
67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16
Middle
response
59.6 32 High
response
400.0
12 PA09 Auto tuning response
Set a response of the auto tuning.
Setting
value
Machine characteristic
Setting
value
Machine characteristic
Response
Guideline
for machine
resonance
frequency
[Hz]
Respoznse
Guideline
for machine
resonance
frequency
[Hz]
1
Low
response
2.7 21
Middle
response
67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20
Middle
response
59.6 40
High
response
642.7
16
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.
Servo motor droop pulse
In-position range [pulse]
Command pulse
Command pulse
Droop pulse
In position (INP)
ON
OFF
100 PA10 In-position range
Set an in-position range per command pulse.
1600