Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 121 / 590

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
3 - 24
MR-J3-_B_ MR-J4-_B_
No. Name and function
Initial
value
No. Name and function
Initial
value
PB06 Load to motor inertia 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.
When [Pr. PA08] is set to "_ _ _ 2" or "_ _ _ 3", this
parameter can be set manually.
7.0 PB06
Same setting as MR-J3
7.00
Load to motor inertia ratio/load to motor mass ratio
This is used to set the 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 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)
PB07 Model loop gain
Set the response gain up to the target position.
Increase the gain to improve track ability in response to
the command.
When auto turning mode 1 2 is selected, the result of
auto turning is automatically used.
When [Pr. PA08] is set to "_ _ _ 0" or "_ _ _ 3", this
parameter can be set manually.
24 PB07
Same setting as MR-J3
15.0
Model loop gain
Set the response gain up to the target position.
Increasing the setting value will also increase the
response level to the position command but will be
liable to generate vibration and noise.
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.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Manual setting
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)
PB08 Position loop gain
This parameter cannot be used in the speed control
mode.
Used to set the gain of the position loop.
Set this parameter to increase the position response to
level load disturbance. Higher setting increases the
response level but is liable to generate vibration and/or
noise.
When auto tuning mode 1 2 and interpolation mode is
selected, the result of auto tuning is automatically used.
When [Pr. PA08] is set to " _ _ _ 3", this parameter can
be set manually.
37 PB08
Same as MR-J3
37.0
Position loop gain
This is used to set the gain of the position loop.
Set this parameter to increase the position response to
level load disturbance.
Increasing the setting value will also increase the
response level to the load disturbance but will be liable
to generate vibration and noise.
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.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting