Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 74 / 590

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
2 - 41
MR-J3-_A_ MR-J4-_A_
Control
mode
No.
Name and function
Initial
value
No.
Name and function
Initial
value
PC03 S-pattern acceleration/deceleration time constant
Used to smooth start/stop of the servo motor.
Set the time of the arc part for S-pattern
acceleration/deceleration.
Speed command
0 r/min
STA
STC
Time
STC STC
STB STC
Speed
Ser
vo motor
STA: Acceleration time constant [Pr. PC01]
STB: Deceleration time constant [Pr. PC02]
STC: S-pattern acceleration/deceleration time
constant [Pr. PC03]
Long setting of STA (acceleration time constant) or
STB (deceleration time constant) may produce an
error in the time of the arc part for the setting of the
S-pattern acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by
At the setting of STA 20000, STB 5000 and STC 200,
the actual arc part times are as follows.
for acceleration or by for deceleration.
(Example)
During acceleration: 100[ms]
2000000
20000
100[ms] 200[ms].
Limited to 100[ms] since
During deceleration: 200[ms]
2000000
5000
400[ms] 200[ms].
200[ms] as set since
2000000
STA
2000000
STB
0 PC03
Same as MR-J3
0 S
T
S-pattern acceleration/deceleration time constant
Start/stop the servo motor or linear servo motor
smoothly.
Set the time of the arc part for S-pattern
acceleration/deceleration.
Speed command
Servo motor
speed
0 r/min
STA
STC
Time
STC
STB
STC STC
(Li
nea
r s
e
rv
o
motor speed)
(0 mm/s)
STA: Acceleration time constant ([Pr. PC01])
STB: Deceleration time constant ([Pr. PC02])
STC: S-pattern acceleration/deceleration time
constant ([Pr. PC03])
Long setting of STA (acceleration time constant) or
STB (deceleration time constant) may produce an
error in the time of the arc part for the setting of the
S-pattern acceleration/deceleration time constant.
The upper limit value of the actual arc part time is
limited by
2000000
STA
for acceleration or by
2000000
STB
for
deceleration.
(Example) At the setting of STA 20000, STB 5000
and STC 200, the actual arc part times
are as follows.
Acceleration: 100 ms
2000000
20000
= 100 [ms] < 200 [ms]
Therefore, it will be limited to 100 ms.
Deceleration: 200 ms
2000000
5000
= 400 [ms] > 200 [ms]
Therefore, it will be 200 ms as you set.
Setting range: 0 to 5000
PC04 Torque command time constant
Used to set the constant of a low-pass filter in
response to the torque command.
Torque command
TQC TQC
Time
After
filtered
TQC: Torque command time constant
Torque
0 PC04
Same as MR-J3
0 T
Torque command time constant
Set the constant of a primary delay filter to the
torque command.
TQC TQC
Time
Torque
Torque command (Thrust command)
After filtering
(Thrust)
TQC: Torque
Setting range: 0 to 50000