Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 138

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
30 Backlash compensation
Set the backlash compensation that is compensated
when the command direction is reversed.
Compensate the number of backlash pulses reversely-
directed against the home position return direction.
In the absolute position detection system, compensation
is performed reversely against the operating direction
taken at power-on.
e: Depending on the software version of servo amplifier,
the setting range varies as follows:
] A4 version or later: 0 to 1600
A3 version or earlier: 0 to 1000
] A1 version or later: 0 to 1600
A0 version: 0 to 1000
31 Analog monitor 1 offset
Used to set the offset voltage of Analog monitor 1 (MO1).
Setting range: -999 to 999 mV
32 Analog monitor 2 offset
Used to set the offset voltage of Analog monitor 2 (MO2).
Setting range: -999 to 999 mV
33 Electromagnetic brake sequence output
Used to set the delay time (Tb) between MBR
(Electromagnetic brake interlock) OFF and base circuit
shut-off.
Setting range: 0 to 1000 ms
34 Load to motor inertia ratio
Used to set the motor inertia ratio to the servo motor
shaft inertia moment.
When auto tuning is selected, the auto tuning result is
automatically used.
Setting range: 0 to 1000; Unit: x1.0
35 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 is selected, the auto tuning result is
automatically used.
36 Speed loop gain 1
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 is selected, the auto tuning result is
automatically used.
37 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 is selected, the auto tuning result is
automatically used.
Initial value
No.
CP CL
0 0 PT14 Backlash compensation
Set the backlash compensation that is
compensated when the command direction is
reversed.
Compensate the number of backlash pulses
reversely-directed against the home position
return direction.
In the case of home position ignorance (servo-on
position as home position), compensate the
number of backlash pulses reversely-directed
against the initial rotation after turning on the
SON (servo-on) to establish the home position.
Setting range: 0 to 65535
0 0 PC39 Analog monitor 1 offset
Used to set the offset voltage of MO1 (Analog
monitor 1).
Setting range: -9999 to 9999 mV
0 0 PC40 Analog monitor 2 offset
Used to set the offset voltage of MO2 (Analog
monitor 2).
Setting range: -9999 to 9999 mV
100 100 PC16 Electromagnetic brake sequence output
Used to set the delay time (Tb) between MBR
(Electromagnetic brake interlock) OFF and base
circuit shut-off.
Setting range: 0 to 1000 ms
Set the same value as for MR-J2S-_CP_.
70 70 PB06 Load to motor inertia ratio
When auto tuning mode 1 is selected, the auto
tuning result is automatically used.
Setting range: 0.00 to 300.00; Unit: x1.0
Note that the setting unit is different from that for
MR-J2S-_CP_.
When setting a value manually, set a value 0.1 x
the MR-J2S-_CP_ setting value.
35 35 PB08 Position loop gain
Used to set the gain of the position loop.
When auto tuning mode 1 is selected, the auto
tuning result is automatically used.
177 177 No corresponding parameter
This parameter is automatically set by the servo
amplifier.
817 817 PB09 Speed loop gain
Used to set the gain of the speed loop.
When auto tuning mode 1 is selected, the auto
tuning result is automatically used.
4 - 29
MR-J4-_A_-RJ
Name and function
Initial
value
0
0
0
0
7.00
37.0
823