Mitsubishi Electric MELSERVO-J2-Super Series, Руководство по переходу, Страница: 237 / 662

Part 6: Review on Replacement of MR-J2M with MR-J4
6 - 18
(2) Drive unit MR-J2M-_DU
MR-J2M-B
(Drive unit MR-J2M-_DU)
MR-J4-_B_
Note
No. Name No. Name
1
Absolute position detection
selection
PA03
Absolute position detection
system selection
2 Regenerative resistor PA02
Regenerative option
selection The setting must be changed according to option
model.
3
to
5
Automatically set from the servo
system controller
No corresponding parameter (Setting not required)
6 Feedback pulse number No corresponding parameter
7 Rotation direction selection PA14 Rotation direction selection
8 Auto Tuning PA08 Auto tuning mode
The setting value needs to be changed according
to the auto tuning mode. Some of the settings
cannot be set.
Gain adjustment mode correspondence table
MR-J2M-B MR-J4-_B_
Interpolation mode 2 gain adjustment mode 1
Auto tuning mode 1 Auto tuning mode 1
Auto tuning mode 2 Auto tuning mode 2
Manual mode 1
Manual mode 2 Manual mode
9 Servo response PA09 Auto tuning response
The setting value must be changed based on
machine resonance frequency.
10 Forward rotation torque limit No corresponding parameter
11 Reverse rotation torque limit
12
Ratio of load inertia to servo motor
inertia (load inertia ratio)
PB06 Load to motor inertia ratio
The unit system is different.
(0.1-fold
→ 0.01-fold)
Pay attention to setting value.
13 Position loop gain 1. PB07 Model loop gain The unit system is different. (rad/s → 0.1 rad/s)
14 Speed loop gain 1. No corresponding parameter (Setting not required)
15 Position loop gain 2. PB08 Position loop gain The unit system is different. (rad/s → 0.1 rad/s)
16 Speed loop gain 2. PB09 Speed loop gain
17 Speed integral compensation. PB10
Speed integral
compensation
The unit system is different. (ms → 0.1 ms)
18
Machine resonance suppression
filter 1
PB13
PB14
Machine resonance
suppression filter 1
Notch shape selection 1
Change the setting value according to the
frequency and depth.
19 Feed forward gain PB04 Feed forward gain
20 In-position range PA10 In-position range
Pay attention to the unit system.
MR-J2M-B: Set by the feedback pulse unit.
MR-J4-_B_: Set per command pulse.
21
Electromagnetic brake sequence
output
PC02
Electromagnetic brake
sequence output
22 For manufacturer setting
23
Encoder cable selection PC04
Encoder communication
method selection
Servo forced stop PA04 Servo forced stop selection
24
Motor-less operation selection PC05
Motor-less operation
selection
Slight vibration suppression control
selection
PB24
Slight vibration suppression
control
25
Low-pass filter selection PB23 Low-pass filter selection
Adaptive vibration suppression
control selection
Adaptive vibration suppression
control level selection
No corresponding parameter (Machine resonance
filters can be automatically adjusted with PB01.)
30 Zero speed PC07 Zero speed
31 Error excessive alarm level
PC01 Error excessive alarm level J2MB: 0.025 rev. unit
J4B: 1/0.1/0.01/0.001 rev.
unit selectable
PC06
Error excessive alarm level
unit selection
32 PI-PID switching control selection PB24
PI-PID switching control
selection Switching with PI-PID switching position droop is
not possible.
33
Encoder output pulse setting
selection
PA15 Encoder output pulse Max. output frequency is different.