Mitsubishi Electric MELSERVO-J2-Super Series, Руководство по переходу

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Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_
3 - 28
MR-J2S-_B_ MR-J4-_B_
No. Name and function
Initial
value
No. Name and function
Initial
value
32 Optional function 5
Used to select the PI-PID control switching.
0000 PB24 Slight vibration suppression control
Used to select the PI-PID switching.
Setting
digit
Explanation
Initial
value
_ _ _ X PI-PID switching control selection
0: PI control enabled
(Can be switched to PID control using
the controller side command.)
3: Continuous PID control enabled
0h
Switching with PI-PID switching position droop is not
possible.
0000h
33 Optional function 6
Used to select serial communication baud rate, serial
communication response delay time, and encoder output
pulse setting.
0000 No corresponding parameter
(No serial communication function)
PC03 Encoder output pulses selection
Used to select encoder output pulse setting.
Setting
digit
Explanation
Initial
value
_ _ X _ Encoder output pulse setting selection
0: Output pulse setting
(When "_ 1 0 _" is set for this
parameter, [AL.37 parameter error]
occurs.)
1: Dividing ratio setting
3: A/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting
The "4" setting is available only when
using the A/B/Z-phase differential output
linear encoder. In this case, the "encoder
output pulse phase selection (_ _ _ X)" will
be disabled. [AL.37 parameter error]
occurs when another encoder is
connected. If a standard control mode "(_ _
0 _)" is selected in [Pr. PA01 operation
mode], [AL.37 parameter error] occurs.
0h
0000h
34 PI-PID switching position droop
Set the amount of position droop (number of pulses) when
the PI control is switched to PID control. When setting [Pr.
32] to "0001", this parameter is enabled.
0 No corresponding parameter
36 Speed differential compensation
Used to set the differential compensation value.
980 PB11 Speed differential compensation
Used to set the differential compensation.
This parameter is enabled when setting the "PI-PID
switching control selection" of [Pr. PB24] to "continuous
PID control enabled (_ _ 3 _)".
980
38 Encoder output pulses
Used to set the encoder pulses (A-phase and B-phase)
output by the servo amplifier. Set the value 4 times greater
than the A-phase and B-phase pulses.
[Pr. 33] can be used to choose the output pulse setting or
output dividing ratio.
The number of A-phase and B-phase pulses actually output
is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 1.3 Mpulses/s (after
multiplication by 4). Use this parameter within this range.
• For output pulse designation
Set [Pr. 33] to "_ 0 _ _" (initial value).
Set the number of pulses per servo motor revolution.
Output pulse = setting value [pulse/rev].
For instance, when "5600" is set, the actual output A- and B-
phase pulses are as follows.
• For output division ratio setting
Set [Pr. 33] to "_ 1 _ _".
The number of pulses per servo motor revolution is divided
by the set value.
For instance, when "8" is set, the actual output A- and B-
phase pulses are as follows.
4000 PA15 Encoder output pulse
Set for the output pulse count, the dividing ratio, or the
electronic gear ratio per rotation of the encoder output
pulses output by the servo amplifier. (After multiplication
of 4)
Set the numerator of the electronic gear when "Phase
A/phase B pulse electronic gear setting (_ _ 3 _)" is
selected in "Encoder output pulse setting selection" of [Pr.
PC03].
The maximum output frequency is 4.6 Mpulses/s. Set to
within this range.
4000
Phase A/phase B output pulse =
131072
x
1
= 4096 [pulses]
8 4
Output pulse =
Encoder resolution per servo motor revolution
= [pulse/rev]
Setting value
Phase A/phase B output pulse =
5600
= 1400 [pulses]
4
0
Serial communication baud rate selection
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Serial communication response delay time
0: Disabled
1: Enabled, reply sent after delay time of
800 μ s or more.
Encoder output pulse setting selection
(refer to parameter No. 38)
0: Output pulse specification
1: Division ratio setting
0 0 0 0
PI-PID switching position droop
0: Continuous PI control enabled
1: Droop-based switching is enabled in
position control mode (refer to
parameter No. 34).
2: Continuous PID control enabled