Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 128 / 590

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
3 - 31
MR-J3-_B_ MR-J4-_B_
No. Name and function
Initial
value
No. Name and function
Initial
value
PB29 Gain changing load to motor inertia ratio
Used to set the load to motor inertia ratio when gain
changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
7.0 PB29
Same as MR-J3
7.00
Load to motor inertia ratio/load to motor mass ratio after
gain switching
This is used to set the load to motor inertia ratio/load to
motor mass ratio when gain switching is enabled.
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB30 Gain changing position loop gain
This parameter cannot be used in the speed control
mode.
Set the position loop gain when the gain changing is
valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
37 PB30 Position loop gain after gain switching
Set the position loop gain when the gain switching is
enabled.
When you set a value less than 1.0 rad/s, the value will
be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
0.0
PB31 Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3).
823 PB31 Speed loop gain after gain switching
Set the speed loop gain when the gain switching is
enabled.
When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
0
PB32 Gain changing speed integral compensation
Set the speed integral compensation when the gain
changing is valid.
This parameter is made valid when the auto tuning is
invalid ([Pr. PA08]: _ _ _ 3)
33.7 PB32 Speed integral compensation after gain switching
Set the speed integral compensation when the gain
changing is enabled.
When you set a value less than 0.1 ms, the value will be
the same as [Pr. PB10].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
0.0
PB33 Gain changing vibration suppression control vibration
frequency setting
This parameter cannot be used in the speed control
mode.
Set the vibration frequency for vibration suppression
control when the gain changing is valid. This parameter
is made valid when the [Pr. PB02] setting is "_ _ _ 2"and
the [Pr. PB26] setting is " _ _ _ 1". When using the
vibration suppression control gain changing, always
execute the changing after the servo motor has stopped.
100.0 PB33 Vibration suppression control 1 - Vibration frequency
after gain switching
Set the vibration frequency for vibration suppression
control 1 when the gain switching is enabled.
When you set a value less than 0.1 Hz, the value will be
the same as [Pr. PB19].
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection"
in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
0.0