Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 131

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