Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 172 / 590

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B
4 - 27
MR-J3W-_B MR-J4W2-_B
No. Name and function
Initial
value
No. Name and function
Initial
value
PA04 Function selection A-1
Turn off the power and then on again, or reset the
controller after setting the
parameter to validate the parameter value.
The servo forced stop function is avoidable.
0 x 0 0:
Selection of servo forced stop
0: Valid (Forced stop (EM1) is used.)
1: Invalid (Forced stop (EM1) is not used.)
When not using the forced stop (EM1) of servo amplifier,
set the selection of servo forced stop to Invalid (_ 1 _ _) .
At this time, the forced stop (EM1) automatically turns on
inside the servo amplifier.
0000h PA04
Function selection A-1
Select a forced stop input and forced stop deceleration
function.
_ _ _ x:
For manufacturer setting
0h
_ _ x _ :
For manufacturer setting
0h
_ x _ _ :
Servo forced stop selection
0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not
used.)
Refer to table 4.1 for details.
0h
x _ _ _ :
Forced stop deceleration function selection
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 4.1 for details. 2h
Table 4.1 Deceleration method
Setting
value
EM2/EM1
Deceleration method
EM2 or EM1 is off Alarm occurred
0 0 _ _ EM1 MBR (Electromagnetic
brake interlock) turns off
without the forced stop
deceleration. MBR (Electromagnetic
brake interlock) turns off
without the forced stop
deceleration.
2 0 _ _ EM2 MBR (Electromagnetic
brake interlock) turns off
after the forced stop
deceleration. MBR (Electromagnetic
brake interlock) turns off
after the forced stop
deceleration.
0 1 _ _ Not using
EM2 and
EM1 MBR (Electromagnetic
brake interlock) turns off
without the forced stop
deceleration.
2 1 _ _ Not using
EM2 and
EM1 MBR (Electromagnetic
brake interlock) turns off
after the forced stop
deceleration.
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.
PB06/PB08/PB09/PB10])
1: Auto tuning mode 1 (Automatically set parameter No.
[Pr. PB06/ PB07/PB08/PB09/PB10])
2: Auto tuning mode 2 (Automatically set parameter No.
[Pr. PB07/ PB08/PB09/PB10])
3: Manual mode
The parameters have the following names
.
Parameter No. Name
PB06 Load to motor inertia moment ratio
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
0001h PA08 Auto tuning mode
Select a gain adjustment mode.
_ _ _ 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
Refer to table 4.2 for details.
Table 4.2 Gain adjustment mode selection
Setting
value
Gain adjustment
mode
Automatically adjusted parameter
_ _ _ 0 2 gain adjustment
mode 1
(interpolation mode)
[Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment
mode 2
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
1h
_ _ x _ :
For manufacturer setting
0h
_ x _ _ :
For manufacturer setting
0h
x _ _ _ :
For manufacturer setting
0h