Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 65 / 590

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
2 - 32
MR-J3-_A_ MR-J4-_A_
Control
mode
No. Name and function
Initial
value
No. Name and function
Initial
value
PB06 Ratio of load inertia moment to servo motor inertia
moment
Used to set the ratio of the load inertia moment to
the servo motor shaft inertia moment. When auto
tuning mode 1 and interpolation mode is selected,
the result of auto tuning is automatically used.
In this case, it varies between 0 and 100.0.
7.0 PB06
Load to motor inertia ratio/load to motor mass ratio
Set the load to motor inertia ratio or load to motor
mass ratio.
The setting of the parameter will be the automatic
setting or manual setting depending on the [Pr.
PA08] setting. Refer to the following table for details.
When the parameter is automatic setting, the value
will vary between 0.00 and 100.00.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)
Setting range: 0.00 to 300.00
7.00 P
S
PB07 Model loop gain
Set the response gain up to the target position.
Increase the gain to improve track ability in
response to the command.
When auto turning mode 1 2 is selected, the result
of auto turning is automatically used.
24 PB07
Same setting as MR-J3
15.0 P
Model loop gain
Set the response gain up to the target position.
Increasing the setting value will also increase the
response level to the position command 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.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Manual setting
_ _ _ 1 (Auto tuning mode 1)
Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode)
Manual setting
_ _ _ 4 (2 gain adjustment mode 2)
Setting range: 1.0 to 2000.0
PB08 Position loop gain
Used to set the gain of the position loop.
Set this parameter to increase the position response
to level load disturbance. 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.
37 PB08
Same setting as MR-J3
37.0 P
Position loop gain
Set the gain of the position loop.
Set this parameter to increase the position response
to level load disturbance.
Increasing the setting value will also increase the
response level to the load disturbance 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 following table for details.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting
Setting range: 1.0 to 2000.0
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, manual mode and
interpolation mode is selected, the result of auto
tuning is automatically used.
Note. The setting range of 50000 applies to the
servo amplifier whose software version is A3
or later. The setting range of the servo
amplifier whose software version is older than
A3 is 20 to 20000. When the software version
of Setup software (SETUP221E) is A3 or
earlier, 20001 or more cannot be set. Use the
display/operation section of the servo amplifier
to set 20001 or more.
823 PB09
Same setting as MR-J3
823 P
S
Speed loop gain
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.
Setting range: 20 to 65535