Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 100

Part 3: Review on Replacement of MR-J2S-_B_ with MR-J4-_B_
MR-J2S-_B_
No. Name and function
12 Load to motor inertia ratio
(Load inertia ratio)
Used to set the load inertia (moment of inertia) ratio to the
servo motor shaft inertia moment. When auto tuning mode 1
or interpolation mode is selected, the result of auto tuning is
automatically used.
13 Position loop gain 1.
Used to set the gain of the position loop.
Increase the gain to improve track ability in response to the
position command.
When auto tuning mode 1 or 2 is selected, the auto tuning
result is automatically used.
14 Speed Loop Gain
Normally, it is unnecessary to change this parameter. Higher
setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 or 2 and manual mode 1 are
selected, the auto tuning result is automatically used.
15 Position loop gain 2.
Used to set the gain of the position loop.
Set this parameter to increase the position response to level
load disturbance. Higher setting increases the response
level but is liable to generate vibration and/or noise.
When auto tuning mode 1 or 2, manual mode 1, and
interpolation mode are selected, the auto tuning result is
automatically used.
16 Speed loop gain 2.
Set this parameter when vibration occurs on machines of
low rigidity or large backlash. Higher setting increases the
response level but is liable to generate vibration and/or
noise.
When auto tuning mode 1 or 2 and interpolation mode are
selected, the auto tuning result is automatically used.
17 Speed integral compensation
Set the time constant for integral compensation.
When auto tuning mode 1 or 2 and interpolation mode are
selected, the auto tuning result is automatically used.
Initial
No.
value
7.0
PB06 Load to motor inertia ratio
Used to set load to motor inertia ratio.
This parameter can be set either automatically or
manually depending on the [Pr. PA08] setting
following table for details. When this parameter is set
automatically, the value varies between 0.00 and 100.00.
Pr. PA08
_ _ _ 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)
7 kW or
PB07 Model loop gain
less: 35
Used to set the response gain till the set position.
11 kW
If the setting value is increased, traceability for position
or more:
command is improved. However, if the setting value is too
19
large, it tends to vibrate or oscillate.
This parameter can be set either automatically or
manually depending on the [Pr. PA08] setting. Refer to
the following table for details.
Pr. PA08
_ _ _ 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)
7 kW or No corresponding parameter
less:
177
11 kW
or more:
96
7 kW or
PB08 Position loop gain
less: 35
Used to set the gain of the position loop.
11 kW
Set this parameter to increase the position response to
or more:
level load disturbance.
19
Higher setting increases the response for load
disturbance, but if the setting value is too large, vibration
and noise are more likely to occur.
This parameter can be set either automatically or
manually depending on the [Pr.PA08] setting. Refer to the
following table for details.
Pr. PA08
_ _ _ 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)
7 kW or
PB09 Speed loop gain
less:
Used to set the gain of the speed loop.
817
Set this parameter when vibration occurs on machines of
11 kW
low rigidity or large backlash. Higher setting increases the
or
response level, but if the setting value is too large,
more:
vibration and noise are more likely to occur.
455
This parameter can be set either automatically or
manually depending on the [Pr.PA08] setting. Refer to [Pr.
PB08] table for details.
7 kW or PB10 Speed integral compensation
less: 48
Used to set the integral time constant of the speed loop.
11 kW
Decreasing the setting value will increase the response
or
level, but vibration and noise are more likely to occur.
more:
This parameter can be set either automatically or
91
manually depending on the [Pr.PA08] setting. Refer to [Pr.
PB08] table for details.
3 - 23
MR-J4-_B_
Name and function
Refer to
.
State of this parameter
Automatic setting
Manual setting
State of this parameter
Manual setting
Automatic setting
Manual setting
State of this parameter
Automatic setting
Manual setting
Automatic setting
Initial
value
7.00
he
t
15.0
37.0
823
33.7