Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 53

Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_
MR-J2S-_A_
No. Name and function
5 In-position range
Used to set the range where INP (positioning completion)
is output by the command pulse unit before an electronic
gear is calculated.
For example, when wanting to set 100 μm in a state of
direct connection to the ball screw, a lead wire length of
10 mm, a feedback pulse number of 131072 pulses/rev,
and electronic gear numerator (CMX) / electronic gear
denominator (CDV) = 16384/125 (unit setting of 10 μm
per pulse), set "10", as shown in the equation below.
100 [µm] × 10
-6
× 131072 [pulse/rev] ×
10 [mm] × 10
-3
6 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.
7 Position command acceleration/deceleration time
constant (Position smoothing)
This is used to set the constant of a primary delay to the
position command.
The control method can be selected from Primary delay
and Linear acceleration/deceleration in [Pr. 55].
The setting range of Linear acceleration/deceleration is 0
to 10 ms. When setting a value of 10 ms or more, the
setting value is recognized as 10 ms.
POINT
When Linear acceleration/deceleration is
selected, do not select Control switching ([Pr. 0])
and Restart after instantaneous power failure ([Pr.
20]). Selecting them will cause the servo motor to
make a sudden stop at the time of position control
switching or at restart.
(Example) When a command is given from a
synchronizing encoder, synchronous
operation will start smoothly even if it starts
during line operation.
Encoder for
synchronization
Start
Servo amplifier
Without time
constant setting
Servo motor speed
ON
Start
OFF
Initial
No.
value
100 PA10 In-position range
125
≒ 10
16384
7 kW or PB07 Model loop gain
less:
35
11 kW
or more:
19
3 PB03 Position command acceleration/deceleration time
Servo motor
With time
constant setting
t
2 - 22
MR-J4-_A_
Name and function
Used to set an in-position range per command pulse
unit.
Set the same value as for MR-J2S-_A_.
Used to set the response gain till the set position.
If the setting value is increased, traceability for
position command is improved. However, if the
setting value is too large, it tends to generate
vibration and noise.
This parameter can be set either automatically or
manually depending on the [Pr. PA08] setting.
constant (Position smoothing)
This is used to set the constant of a primary delay to
the position command.
Set the same value as for MR-J2S-_A_.
Control
Initial
mode
value
100 P
15.0 P
0 P