Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 73

Part 2: Review on Replacement of MR-J2S-_A_ with MR-J4-_A_
MR-J2S-_A_
No. Name and function
62 Position loop gain 2 changing ratio
Used to set the changing ratio for position loop gain 2
when the gain switching is enabled.
This parameter is enabled when auto tuning is disabled.
Setting range: 10 to 200
63 Speed loop gain 2 changing ratio
Used to set the changing ratio for speed loop gain 2
when the gain switching is enabled.
This parameter is enabled when auto tuning is disabled.
Setting range: 10 to 200
64 Speed integral compensation changing ratio
Used to set the changing ratio for speed integral
compensation when the gain switching is enabled.
This parameter is enabled when auto tuning is disabled.
Setting range: 50 to 1000
65 Gain switching selection
Select the gain switching condition.
0 0 0
Gain switching selection
Gain will be changed under the
following conditions based on the
setting value of parameters No.61 to
No.64.
0: Disabled
1: Gain switching (CDP) is ON
2: The appointed frequency is equal
to or more than the setting value of
parameter No. 66.
3: The droop pulse is equal to or
more than the setting value of
parameter No. 66.
4: The servo motor speed is equal to
or more than the setting value of
parameter No. 66.
Initial
No.
value
100 PB30 Gain switching position loop gain
When a value smaller than 1.0 rad/s is set, the value
will be the same as the setting value of [Pr. PB08].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0.0 to 2000.0
Because the setting unit is different from that for
MR-J2S-_A_, calculate the setting value using the
equation below and set it.
[Pr. PB30] = [Pr. PB08] × MR-J2S-_A_ [Pr. 62]/100
100 PB31 Gain switching speed loop gain
When a value smaller than 20 rad/s is set, the value
will be the same as the setting value of [Pr. PB09].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0 to 65535
Because the setting unit is different from that for
MR-J2S-_A_, calculate the setting value using the
equation below and set it.
[Pr. PB31] = [Pr. PB09] × MR-J2S-_A_ [Pr. 63]/100
100 PB32 Gain switching speed integral compensation
When a value smaller than 0.1 ms set, the value will
be the same as the setting value of [Pr. PB10].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected in "Gain adjustment mode
selection" of [Pr. PA08].
Setting range: 0.0 to 5000.0
Because the setting unit is different from that for
MR-J2S-_A_, calculate the setting value using the
equation below and set it.
[Pr. PB32] = [Pr. PB10] × MR-J2S-_A_ [Pr. 64]/100
0000h PB26 Gain switching function
Select the gain switching condition.
Refer to the comparison table below for the setting
method.
Gain switching selection comparison table
MR-J2S-_A_
No.65
0 0 0 0
0 0 0 1
0 0 0 2
0 0 0 3
0 0 0 4
2 - 42
MR-J4-_A_
Name and function
MR-J4-_A_
PB26
0 0 0 0
0 0 0 1
→ 0 0 0 2
0 0 0 3
0 0 0 4
Control
Initial
mode
value
0.0 P
0 P
S
0.0 P
S
0000h P
S