Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 122 / 590

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
3 - 25
MR-J3-_B_ MR-J4-_B_
No. Name and function
Initial
value
No. Name and function
Initial
value
PB09 Speed loop gain
Used to set the gain of the speed loop.
Set this parameter when vibration occurs on machines of
low rigidity or large backlash.
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. 823 PB09
Same as MR-J3 823
Speed loop gain
This is used to set the gain of the speed loop.
Set this parameter when vibration occurs on machines
of low rigidity or large backlash. Increasing the setting
value will also increase the response level 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 table of [Pr. PB08] for details.
PB10 Speed integral compensation
Used to set the integral time constant of the speed loop.
Lower 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.
33.7 PB10
Same as MR-J3
33.7
Speed integral compensation
This is used to set the integral time constant of the
speed loop.
Decreasing the setting value will increase the response
level 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 table of [Pr. PB08] for details.
PB11 Speed differential compensation
Used to set the differential compensation.
When [Pr. PB24] is set to "_ _ 3 _", this parameter is
made valid. When [Pr. PB24] is set to " _ _ 0 _", this
parameter is made valid by instructions of controller.
980 PB11 Same as MR-J3 980
Speed differential compensation
This is used to set the differential compensation.
To enable the parameter, select "Continuous PID control
enabled (_ _ 3 _)" of "PI-PID switching control selection"
in [Pr. PB24].
PB12 Overshoot amount compensation
This parameter is supported by the servo amplifiers
whose software versions are C4 or later. Check the
software version using
Setup software (SETUP221E).
Used to suppress overshoot during position control.
Overshoot can be suppressed in machines with high
friction.
Set a control ratio against the friction torque in
percentage unit.
When [Pr. PA01] is set to "_ 4 _ _" or "_ 5 _ _" and [Pr.
PB12] is set to "0", the control ratio against the friction
torque is fixed at 5% in the servo amplifier.
0 PB12
Same as MR-J3 0
Overshoot amount compensation
This is used to set a viscous friction torque or thrust to
rated torque in percentage unit at servo motor rated
speed rated speed.
When the response level is low or when the
torque/thrust is limited, the efficiency of the parameter
may be lower.
PB13 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance
suppression filter 1.
Setting [Pr. PB01] (adaptive tuning mode (adaptive filter
II)) to "_ _ _ 1" automatically changes this parameter.
When the [Pr. PB01] setting is " _ _ _ 0", the setting of
this parameter is ignored.
4500 PB13 Same as MR-J3 4500
Machine resonance suppression filter 1
Set the notch frequency of the machine resonance
suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic
setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
adjusted automatically.
When "Filter tuning mode selection" is set to "Manual
setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.