Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 49 / 590

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
2 - 16
3.5.2 Parameter comparison list
MR-J3-_A_ parameters MR-J4-_A_ parameters
No.
Abbreviation
Parameter name
Initial
value
Customer
setting
value
No.
Abbreviation
Parameter name
Initial
value
Customer
setting
value
PA01 *STY Control mode 0000h PA01 *STY Operation mode 1000h
PA02 *REG Regenerative option 0000h PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection
system 0000h PA03 *ABS Absolute position detection
system 0000h
PA04 *AOP1 Function selection A-1 0000h PD23 *DO1 Output device selection 1 0004h
PD24 *DO2 Output device selection 2 000Ch
PD25 *DO3 Output device selection 3 0004h
PD26 *DO4 Output device selection 4 0007h
PD28 *DO6 Output device selection 6 0002h
PA05 *FBP Number of command input pulses
per revolution 0 PA05 *FBP Number of command input pulses
per revolution 10000
PA06 CMX Electronic gear numerator
(Command pulse multiplying
factor numerator) 1 PA06 CMX Electronic gear numerator
(command pulse multiplication
numerator) 1
PA07 CDV Electronic gear denominator
(Command pulse multiplying
factor denominator) 1 PA07 CDV Electronic gear denominator
(command pulse multiplication
denominator) 1
PA08 ATU Auto tuning mode 0001h PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12 PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 PA10 INP In-position range 100
PA11 TLP Forward rotation torque limit 100.0 PA11 TLP Forward rotation torque limit 100.0
PA12 TLN Reverse rotation torque limit 100.0 PA12 TLN Reverse rotation torque limit 100.0
PA13 *PLSS Command pulse input form 0000h PA13 *PLSS Command pulse input form 0100h
PA14 *POL Rotation direction selection 0 PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 PA15 *ENR Encoder output pulses 4000
PA16 For manufacturer setting 0000h PA16 *ENR2 Encoder output pulses 2 1
PA17 0000h PA17 *MSR Servo motor series setting 0000h
PA18 0000h PA18 *MTY Servo motor type setting 0000h
PA19 *BLK Parameter write inhibit 000Bh PA19 *BLK Parameter writing inhibit 00AAh
PB01 FILT Adaptive tuning mode
(Adaptive filter II) 0000h PB01 FILT Adaptive tuning mode
(adaptive filter II) 0000h
PB02 VRFT Vibration suppression control
tuning mode (Advanced vibration
suppression control) 0000h PB02 VRFT Vibration suppression control
tuning mode (advanced vibration
suppression control II) 0000h
PB03 PST Position command
acceleration/deceleration time
constant (Position smoothing)
0 PB03 PST Position command
acceleration/deceleration time
constant (position smoothing)
0
PB04 FFC Feed forward gain 0 PB04 FFC Feed forward gain 0
PB05 For manufacturer setting 500 PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to
servo motor inertia moment 7.0 PB06 GD2 Load to motor inertia ratio/load to
motor mass ratio 7.00
PB07 PG1 Model loop gain 24 PB07 PG1 Model loop gain (Note) 15.0
PB08 PG2 Position loop gain 37 PB08 PG2 Position loop gain (Note) 37.0
PB09 VG2 Speed loop gain 823 PB09 VG2 Speed loop gain (Note) 823
PB10 VIC
Speed integral compensation
33.7 PB10 VIC Speed integral compensation
(Note) 33.7
PB11 VDC
Speed differential compensation
980 PB11 VDC Speed differential compensation
(Note) 980
PB12 For manufacturer setting 0 PB12 OVA Overshoot amount compensation 0
PB13 NH1 Machine resonance suppression
filter 1 4500 PB13 NH1 Machine resonance suppression
filter 1 4500
PB14 NHQ1 Notch shape selection 1 0000h PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression
filter 2 4500
PB15 NH2
Machine resonance suppression
filter 2 4500
PB16 NHQ2 Notch shape selection 2 0000h PB16 NHQ2 Notch shape selection 2 0000h
Note. Parameters related to gain adjustment are different from those for the MR-J3_A_ servo amplifier. For gain adjustment, refer to
"MR-J4_A_ Servo Amplifier Instruction Manual".