Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 127 / 590

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
3 - 30
MR-J3-_B_ MR-J4-_B_
No. Name and function
Initial
value
No. Name and function
Initial
value
PB25 For manufacturer setting
Do not change this value by any means.
0000h PB25 Function selection B-1
Select enabled/disabled of model adaptive control.
This parameter is supported with software version B4 or
later.
_ _ _ x:
Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control) 0h
_ _ x _ :
For manufacturer setting 0h
_ x _ _ :
For manufacturer setting 0h
x _ _ _ :
For manufacturer setting 0h
PB26 Gain changing selection
Select the gain changing condition. 0000h PB26
Same setting as MR-J3
Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in
[Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
0 0 _ x:
Gain changing selection
Under any of the following conditions, the gains change
on the basis of the [Pr. PB29 to PB34] settings.
0: Invalid
1: Control instructions from a controller.
2: Command frequency ([Pr. PB27]
setting)
3: Droop pulse value ([Pr. PB27] setting)
4: Servo motor speed ([Pr. PB27] setting)
_ _ _ x:
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed 0h
_ _ x _ :
Gain switching condition selection
0: Gain after switching is enabled with gain switching
condition or more
1: Gain after switching is enabled with gain switching
condition or less
0h
0 0 x _ :
Gain changing condition
0: Valid when the control instruction from a controller is
ON
Valid at equal to or more than the value set in
[Pr. PB27]
1: Valid when the control instruction from a controller is
OFF
Valid at equal to or less than the value set in
[Pr. PB27]
_ x _ _ :
Gain switching time constant disabling condition
selection
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
This parameter is used by servo amplifier with software
version B4 or later. 0h
x _ _ _ :
For manufacturer setting 0h
PB27 Gain changing condition
Used to set the value of gain changing condition
(command frequency, droop pulses, servo motor speed)
selected in [Pr. PB26]. The set value unit changes with
the changing condition item.
10 PB27
Same setting as MR-J3
10
Gain switching condition
This is used to set the value of gain switching (command
frequency, droop pulses, and servo motor speed)
selected in [Pr. PB26].
The set value unit differs depending on the switching
condition item.
PB28 Gain changing time constant
Used to set the time constant at which the gains will
change in response to the conditions set in [Pr. PB26
and PB27].
1 PB28
Same setting as MR-J3
1
Gain switching time constant
This is used to set the time constant at which the gains
will change in response to the conditions set in
[Pr. PB26] and [Pr. PB27].