Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 326 / 610

7. PARAMETERS
7 - 21
No./
symbol/name
Setting
digit
Function
Initial
value
[unit]
Control mode
CP/BCD
CL
PS
PA09
RSP
Auto tuning
response Set the auto tuning response.
16
Setting
value
Machine characteristic
Setting
value
Machine characteristic
Response
Guideline for
machine
resonance
frequency [Hz]
Response
Guideline for
machine
resonance
frequency [Hz]
1
Low
response
2.7 21
Middle
response
67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20
Middle
response
59.6 40
High
response
642.7
Setting range: 1 to 40
PA10
INP
In-position
range Set an in-position range per command.
To change it to the servo motor encoder pulse unit, set [Pr. PC24]. 100
Refer to
Function
column
for unit.
Pr. PA01 In-position setting range
_ _ _ 6 (positioning mode (point table method)) The range where MEND (Travel
completion), PED (Position
end) and INP (In-position) are
inputted.
_ _ _ 7 (Positioning mode (program method))
_ _ _ 8 (Positioning mode (indexer method))
The range where MEND (Travel
completion) and INP
(In-position) are inputted.
The unit will be as follows depending on the positioning mode.
Point table method or program method
When [Pr. PC24] is set to "_ _ _ 0", the unit can be changed to [µm], 10-4 [inch], 10-3 [degree],
or [pulse] with the setting of [Pr. PT01]. When [Pr. PC24] is set to "_ _ _ 1", the unit is fixed to
[pulse].
Indexer method
Command unit [pulse] (a load-side rotation expressed by the number of encoder resolution
pulses)
For example, when making an in-position range "± 1 degree" for the rotation angle on the load
side, set 4194304 × (1/360) = 11650 pulses.
Setting range: 0 to 65535
www.kavrammuhendislik.com.tr