Mitsubishi Electric Melservo MR-J3-100B, Руководство пользователя, Страница: 57 / 590

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
2 - 24
MR-J3-_A_ MR-J4-_A_
Control
mode
No. Name and function
Initial
value
No. Name and function
Initial
value
PA08
PA09 Auto tuning mode
Auto tuning response
Make gain adjustment using auto tuning.
Auto tuning mode [Pr. PA08]
Select the gain adjustment mode.
0 0 0 x:
Gain adjustment mode setting
0: Interpolation mode (Automatically set parameter
No. [Pr. PB06/PB08/PB09/PB10])
1: Auto tuning mode 1 (Automatically set parameter
No. [Pr. PB06/ PB07/PB08/PB09/PB10])
2: Auto tuning mode 2 (Automatically set parameter
No. [Pr. PB07/PB08/PB09/PB10])
3: Manual mode
Note. The parameters have the following names.
No. Name
PB06
Ratio of load inertia moment to servo
motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
Auto tuning response [Pr. PA09]
If the machine hunts or generates large gear sound,
decrease the set value. To improve performance,
e.g. shorten the settling time, increase the set value.
Setting Response
Guideline for
machine
resonance
frequency [Hz]
Setting Response
Guideline for
machine
resonance
frequency [Hz]
1
Low
response
10.0 17
Middle
response
67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16
Middle
response
59.6 32
High
response
400.0
0001h
12
PA08 Same setting as MR-J3 1h P
S
Auto tuning mode
_ _ _ x:
Gain adjustment mode selection
Select the gain adjustment mode.
0: 2 gain adjustment mode 1 (interpolation mode)
1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
Refer to table 2.2 for details.
Table2.2 Gain adjustment mode selection
Setting
value
Gain adjustment
mode
Automatically adjusted parameter
_ _ _ 0 2 gain adjustment
mode 1
(interpolation mode)
[Pr. PB06 Load to motor inertia ratio]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment
mode 2
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ x _:
For manufacturer setting 0h
_ x _ _:
For manufacturer setting 0h
x _ _ _:
For manufacturer setting 0h
PA09 Auto tuning response
Set a response of the auto tuning.
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
16 P
S