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

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Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ
4 - 22
MR-J2S-_CP_ or MR-J2S-_CL_ MR-J4-_A_-RJ
No. Name and function
Initial value
No. Name and function
Initial
value
CP CL
3 Auto Tuning
Select a response level, etc., when performing auto tuning.
0105h 0105h PA09 Auto tuning response
Set a response of the auto tuning.
Refer to the comparison table below for the
setting method.
Response level comparison table
MR-J2S-_CP_ MR-J4-_A_
No.3 PA09
_ _ 0 1
→
8 or 9
_ _ 0 2 1 1
_ _ 0 3 1 3
_ _ 0 4 1 4
_ _ 0 5 15 or 16
_ _ 0 6 17 or 18
_ _ 0 7 19 or 20
_ _ 0 8 21 or 22
_ _ 0 9 2 3
_ _ 0 A 2 5
_ _ 0 B 26 or 27
_ _ 0 C 28 or 29
_ _ 0 D 30 or 31
_ _ 0 E 3 2
_ _ 0 F 33 or 34
16
PA08 Auto tuning mode
Used to select the gain adjustment mode.
It is necessary to make gain adjustment again
when replacing.
Select auto tuning mode 1 (initial value)
and make gain adjustment.
For details on how to make gain adjustments,
refer to MR-J4-_A_ Servo Amplifier Instruction
Manual, Chapter 6.
0001h
4 Electronic gear numerator
Used to set a value for the electronic gear numerator.
Setting "0" will set the pulse number of encoder.
1 1 PA21 Electronic gear selection
Setting
digit
Function
x _ _ _ Electronic gear selection
0: Electronic gear ([Pr. PA06] and
[Pr. PA07]) enabled
3: J2S electronic gear setting
value compatibility mode
(Electronic gear ([Pr. PA06] and
[Pr. PA07] × 32))
The electronic gear setting
value set for MR-J2S can be
used.
Use the initial value when replacing the servo
amplifier and the servo motor simultaneously.
0001h
PA06 Electronic gear numerator
(command pulse multiplication numerator)
Used to set a multiplier for the command pulse.
1
5 Electronic gear denominator
Used to set a value for the electronic gear denominator.
1 1 PA21 Electronic gear selection
Use the initial value when replacing.
0001h
PA07 Electronic gear denominator
(command pulse multiplication denominator)
Used to set a multiplier for the command pulse.
1
6 In-position range
Set the range of droop pulses occurred when outputting
MEND (Travel completion) and INP (In-position).
100 PA10 In-position range
Set an in-position range per command unit.
It can be changed to servo motor encoder pulse
unit in the setting of [Pr. PC24].
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
output.
_ _ _ 7 (Positioning
mode (Program
method))
100
Position end output
Set the range of droop pulses occurred when outputting PED
(Position end).
100
0 0
Auto tuning response setting
Setting
value
Response
The
standard of
machine
resonance
・
Decrease the
setting value
if hunting
occurs in the
machine or if
the gear
noise is loud.
・
To improve
the
performance
so as to
shorten the
stop settling
time,
increase the
setting value.
1
Low
Response
15Hz
2 20Hz
3 25Hz
4 30Hz
5 35Hz
6 45Hz
7 55Hz
8
Medium
Response
70Hz
9 85Hz
A 105Hz
B 130Hz
C 160Hz
D 200Hz
E 240Hz
F
High
Response
300Hz
Gain adjustment mode selection
Setting
value
Gain adjustment
mode
Adjustment description
0
Interpolation
mode Fixes to position loop gain 1
(parameter No. 6).
1 Auto tuning mode 1 This is ordinary auto tuning.
2 Auto tuning mode 2
Fixes to the load to motor inertia
ratio setting with parameter No. 34.
Responsive setting is changeable.
3 Manual mode 1 Adjusted manually simply.
4 Manual mode 2 Adjust all gains manually.