CNP3BCNP3A
3.9 Comparison of Parameters
CAUTION
Never perform extreme adjustments and changes to the parameters, otherwisethe operation may become unstable.
If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not enter any setting value other than those specified for each parameter.
POINT
For the parameter converter function, see "Part 5: Common Reference Material".
The parameter whose symbol preceded by * can be validated with the following conditions.
* : Turn off the power and then on again, or reset the controller after setting the parameter.
**: Turn off the power and then on again after setting the parameter.
For details about parameter settings for replacement, see the MR-J4W2-_B Servo Amplifier Instruction Manual.
Do not enter any setting value other than those specified for each parameter.
POINT
With MR-J4-_B_ the deceleration to a stop function is enabled by factory settings.
To disable the deceleration to a stop function, set [Pr.PA04] to "0 _ _ _ "
In cases of 11 kW or more, the dynamic brake (DB) needs to be assigned to a
device in [Pr.PD07] to [Pr. PD09]
3.9.1 Setting requisite parameters upon replacement
The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used amplifier, parameters other than these may need to be set.
Parameter No. Name Precautions
PA01 Control type selection MR-J4W2-_B has servo motors whose initial settings are 350%. Refer to Part 6: "Review on Replacement of Motor" and check the operation.
PA02 Regenerative option selection The setting value must be changed according to the option model.
PA04 Function selection A-1 Servo forced stop selection
Forced stop deceleration function selection
To configure the same settings as forMR-J3W-_B, select "Forced stop deceleration function disabled (with EM1 used)".
PA08 Gain adjustment mode selection The setting value needs to be changed according to the auto tuning mode.
PA09 Auto tuning response
Auto tuning response setting
Enter this setting value for replacement, referring to "3.9.3 Comparison of parameter details". It is necessary to make gain adjustment again when replacing.
For details on how to make gain adjustments, refer to Chapter 6 of the MR-J4W2-_B Servo Amplifier Instruction Manual. The setting value needs be changed based on the standard machine resonance frequency.
PA10 In-position range The setting needs to be changed depending on the motor.
PA15 Encoder output pulse Used to set the encoder pulses (A-phase and B-phase) output by the servo amplifier.
PA19 Parameter writing inhibit Change the setting value as necessary.
PB06 Load to motor inertia ratio The unit system is different. (0.1-fold→0.01-fold) Pay attention to setting value.
PB07 Model loop gain The unit system is different. (rad/s→0.1 rad/s) PB08 Position loop gain The unit system is different. (rad/s→0.1 rad/s) PB13 Machine resonance suppression filter 1
Change the setting value according to the frequency and depth.
PB14 Notch shape selection 1
PB15 Machine resonance suppression filter 2
Change the setting value according to the frequency and depth.
PB16 Notch shape selection 2
PB29 Load to motor inertia ratio after gain switching
The unit system is different. (0.1-fold→0.01-fold) Pay attention to setting value.
PB30 Position loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
PB31 Speed loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
PB32 Speed integral compensation after gain
switching It is necessary to convert the ratio to a value to change the setting value.
PC09 Analog monitor 1 output
Analog monitors (MO1 and MO2) are not supported. When using MO1 and MO2, please consider replacing the servo amplifier with two MR-J4 single-axis servo amplifiers.
PC10 Analog monitor 2 output PC11 Analog monitor 1 offset PC12 Analog monitor 2 offset
3.9.2 Parameter comparison list POINT
The parameter whose symbol preceded by * can be validated with the following conditions.
* : Turn off the power and then on again, or reset the controller after setting the parameter.
**: Turn off the power and then on again after setting the parameter.
How to set parameters
Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to all axes.
The same values are set as default for all axes.
Setting an out of range value to each parameter will trigger [AL. 37 Parameter error].
MR-J3W-_Bparameters MR-J4W2-_B parameters
No. Symbol Parameter name Setting Factory setting Customer
setting value
No. Symbol Parameter name Setting Factory setting Customer
setting value
PA01 **STY Control mode Each
axis 0000h PA01 **STY Operation mode Each
axis
1000h PA02 **REG Regenerative option Common 0000h PA02 **REG Regenerative option Common 0000h PA03 *ABS Absolute position detection
system
Each
axis 0000h PA03 *ABS Absolute position detection system
Each axis
0000h PA04 *AOP1 Function selection A-1 Common 0000h PA04 *AOP1 Function selection A-1 Common 2000h PA05 This parameter is not used.
Do not change the value.
0 PA05 For manufacturer setting 10000
PA06 1 PA06 1
PA07 1 PA07 1
PA08 ATU Auto tuning mode Each
axis 0001h PA08 ATU Auto tuning mode Each
axis
0001h
PA09 RSP Auto tuning response Each
axis 12 PA09 RSP Auto tuning response Each axis
16
PA10 INP In-position range Each
axis 100 PA10 INP In-position range Each
axis
1600 PA11 This parameter is not used.
Do not change the value.
1000.0 PA11 For manufacturer setting 1000.0
PA12 1000.0 PA12 1000.0
PA13 0000h PA13 0000h
PA14 *POL
Rotation direction selection Each axis
0
PA14 *POL
Rotation direction selection/travel direction selection
Each axis
0
PA15 *ENR Encoder output pulses Each
axis 4000 PA15 *ENR Encoder output pulses Each axis
4000
PA16 *ENR2 Encoder output pulses 2 Each
axis 0 PA16 *ENR2 Encoder output pulses 2 Each axis
1 PA17 This parameter is not used.
Do not change the value.
0000h PA17 For manufacturer setting 0000h
PA18 0000h PA18 0000h
PA19 *BLK Parameter write inhibit Each
axis 000Bh PA19 *BLK Parameter writing inhibit Each axis
00ABh
PB01 FILT Adaptive tuning mode (Adaptive filter II)
Each
axis 0000h PB01 FILT Adaptive tuning mode (adaptive filter II)
Each axis
0000h
PB02 VRFT
Vibration suppression control tuning mode (advanced vibration suppression control)
Each axis
0000h PB02 VRFT
Vibration suppression control tuning mode (advanced vibration suppression control II)
Each axis
0000h
PB03 This parameter is not used.
Do not change the value. 0 PB03 TFBGN Torque feedback loop gain Each axis
18000
PB04 FFC Feed forward gain Each
axis 0 PB04 FFC Feed forward gain Each
axis 0
MR-J3W-_B parameters MR-J4W2-_B parameters No. Symbol Parameter name Setting Factory setting
Customer setting
value
No. Symbol Parameter name Setting Factory setting Customer
setting value PB05 This parameter is not used.
Do not change the value. 500 PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia moment ratio
Each
axis 7.0 PB06 GD2
Load to motor inertia ratio/load to motor mass ratio
Each axis 7.00 PB07 PG1 Model loop gain Each
axis 24 PB07 PG1 Model loop gain Each
axis 15.0 PB08 PG2 Position loop gain Each
axis 37 PB08 PG2 Position loop gain Each axis 37.0 PB09 VG2 Speed loop gain Each
axis 823 PB09 VG2 Speed loop gain Each
axis 823 PB10 VIC Speed integral
compensation
Each
axis 33.7 PB10 VIC Speed integral compensation
Each axis 33.7 PB11 VDC Speed differential
compensation
Each
axis 980 PB11 VDC Speed differential compensation
Each axis 980 PB12 This parameter is not used.
Do not change the value. 0 PB12 OVA Overshoot amount compensation
Each
axis 0
PB13 NH1 Machine resonance suppression filter 1
Each
axis 4500 PB13 NH1 Machine resonance suppression filter 1
Each axis 4500 PB14 NHQ1 Notch shape selection 1 Each
axis 0000h PB14 NHQ1 Notch shape selection 1 Each axis 0000h PB15 NH2 Machine resonance
suppression filter 2
Each
axis 4500 PB15 NH2 Machine resonance suppression filter 2
Each axis 4500 PB16 NHQ2 Notch shape selection 2 Each
axis 0000h PB16 NHQ2 Notch shape selection 2 Each axis 0000h PB17 Automatic setting
parameter PB17 NHF Shaft resonance
suppression filter
Each axis 0000h PB18 LPF Low-pass filter setting Each
axis 3141 PB18 LPF Low-pass filter setting Each axis 3141 PB19 VRF1
Vibration suppression control vibration frequency setting
Each
axis 100.0 PB19 VRF11
Vibration suppression control 1 - Vibration frequency
Each axis 100.0
PB20 VRF2
Vibration suppression control resonance frequency setting
Each
axis 100.0 PB20 VRF12
Vibration suppression control 1 - Resonance frequency
Each axis 100.0
PB21
This parameter is not used.
Do not change the value.