Mitsubishi Electronics MR-J2S- A - page 148

7 - 3

7. GENERAL GAIN ADJUSTMENT

7.2 Auto tuning

7.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load

inertia moment ratio) in real time and automatically sets the optimum g ains according to that value. This

function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.

In this mode, the load inertia momen t ratio of a machine is always est imated to set the optimum gains

automatically.

The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No. Abbreviation Name

6PG1Position control gain 1

34 GD2 Ratio of load inertia moment to servo motor inertia moment

35 PG2 Posit ion control gain 2

36 VG1 Speed control gain 1

37 VG2 Speed control gain 2

38 VIC Speed integral compensation

POINT

The auto tuning mode 1 may not be performed properly if the following

conditions are not satisfied.

Time to reach 2000rpm is the acceleration/deceleration time constant of 5s or

less.

Speed is 150r/min or higher.

The ratio of load inertia moment to motor inertia moment is not more

than 100 times.

The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturban ce torque

during acceleration/deceleration or on a machine which is extremely loose,

auto tuning may not function properly, either. In such cases, use the auto

tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.

Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load

inertia moment ratio in parameter No. 34.

The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No. Abbreviation Name

6PG1Position control gain 1

35 PG2 Posit ion control gain 2

36 VG1 Speed control gain 1

37 VG2 Speed control gain 2

38 VIC Speed integral compensation

Contents

Main Safety Instructions WARNING CAUTION 1. To prevent electric shock, note the following: WARNING 2. To prevent fire, note the following: CAUTION 3. To prevent injury, note the follow CAUTION 4. Additional instructions (1) Transportation and installation (2) Wiring (3) Test run adjustment (4) Usage (5) Corrective actions Page COMPLIANCE WITH EC DIRECTIVES Page Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Optional Servo Motor Instruction Manual CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 2 1.2 Function block diagram The function block diagram of this servo is shown below. 1 - 3 1.3 Servo amplifier standard specifications 1 - 4 1 - 5 1.5 Model code definition (1) Rating plate MITSUBISHI 1 - 6 (2) Model 1 - 7 1.7 Parts identification (1) MR-J2S-100A or less 1 - 8 (2) MR-J2S-200A or more 1 - 9 1 - 10 1.8 Servo system with auxiliary equipment WARNING 1 - 11 (b) For 1-phase 100V to 120VAC 1 - 12 (2) MR-J2S-200A or more 2. INSTALLATION Page Page Page 3. SIGNALS AND WIRING WARNING 3 - 2 3.1 Standard connection example Page 3 - 4 (2) AD75P (A1SD75P ) Page 3 - 6 3.1.2 Speed control mode Servo motor Page 3 - 8 3.1.3 Torque control mode Page 3 - 10 Note. P: Position control mode, S: S p eed control mode, T: Tor q 3 - 11 3.3 I/O signals 3.3.1 Connectors and signal arrangements 3 - 12 For note, refer to the next page. Page 3 - 14 3 - 15 3 - 16 3 - 17 3 - 18 3 - 19 (2) Output signals 3 - 20 3 - 21 (3) Communication Refer to Chapter 14 for the communication function. 3 - 22 (4) Power supply Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page CAUTION 3 - 39 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. ALM .etc Page 3 - 41 (b) Lamp load For use of internal power supply F or use of external power supply 2) Conditions of the input pulse Page 3 - 43 (b) Differential line driver system 1) Interface Max. output current: 35mA 2) Output pulse (5) Analog input Input impedance 10 to 12k (6) Analog output Output 10V Max.1mA 3 - 44 Note: This also applies to the use of the external power supply. 3 - 45 3.7 Input power supply circuit 3 - 46 Page WARNING 3 - 49 3 - 50 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series 3 - 51 (2) HC-SFS HC-RFS HC-UFS2000 r/min series Page 3 - 53 (b) Emergency stop signal (EMG) ON/OFF 3 - 54 (c) Alarm occurrence (d) Both main and control circuit power supplies off (e) Only main circuit power supply off (control circuit power supply remains on) 3 - 55 WARNING Page Page Page 4. OPERATION WARNING CAUTION Page Page Page Page 5. PARAMETERS CAUTION Page 5 - 3 5 - 4 5 - 5 (2) Details list 0 0 5 - 6 5 - 7 5 - 8 5 - 9 5 - 10 5 - 11 5 - 12 5 - 13 5 - 14 5 - 15 5 - 16 5 - 17 5 - 18 5 - 19 5 - 20 5 - 21 5 - 22 5 - 23 5 - 24 CAUTION CDV CMX 0Pt S0Pt nPb 10 10 31/2 10 131072 262144 1000 32768 26214 450 36000 1 131072 4 64 360 359.995 Page Page 5 - 29 Page Page Page 6 - 1 6. DISPLAY AND OPERATION UP DOWN MODE Command pulse frequency [kpps] Page 6 - 3 6 - 4 6 - 5 6.3 Diagnostic mode 6 - 6 Page Page Page 6 - 10 (a) Control modes and I/O signals (b) Symbol and signal names 6 - 11 (3) Default signal indications (a) Position control mode (b) Speed control mode (c) Torque control mode Page Page Page Page Page 7 - 1 7. GENERAL GAIN ADJUSTMENT 7 - 2 (2) Adjustment sequence and mode usag e Page Page Page Page Page Page PG1 guideline VG2 setting (1 load inertia moment ratio) ( to1 5 1 3) Droop pulse value (pulse) PG1 setting Rotation speed (r/min) 131,072(pulse) Page Page 8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 2 Page Page Page 8 - 6 Page 8 - 8 (b) Changing operation 8 - 9 (2) When you choose changing by dro op pulses (a) Setting (b) Changing operation Page 9. INSPECTION 9. INSPECTION WARNING Page 10 - 1 10. TROUBLESHOOTING 10.1 Trouble at start-up CAUTION make operation instable. 10 - 2 Page 10 - 4 10.1.2 Speed control mode 10 - 5 10.1.3 Torque control mode Page Page 10 - 8 10 - 9 10 - 10 10 - 11 10 - 12 11 - 1 11. OUTLINE DIMENSION DRAWINGS (0.79) 11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1 168 (6.61) 156 (6.14) 6 (0.24) 11 - 2 (2) MR-J2S-70A MR-J2S- 100A 168(6.61) 20 (0.79) 156(6.14) 11 - 3 (3) MR-J2S-200A MR-J2S-350A 168(6.61) 156(6.14) 6 11 - 4 11.2 Connectors (1) Servo amplifier side <Sumitomo 3M make> (a) Soldered type (b) Threaded type (c) Insulation displacement type 11 - 5 (2) Communication cable connector <Japan Aviation Electronics Industry make> Page 12. CHARACTERISTICS Page Page Page 12 - 5 a. HC-MFS series b. HC-SF S1000r/min series c. HC-SFS2000r/min series d. HC-SFS3000r/min series e. HC-RFS series f . HC-UFS 2000r/min series g. HC-UFS3000r/min series Fig. 12.5 Dynamic brake time constant 12 - 6 Flexing life [times] 13. OPTIONS AND AUXILIARY EQUIPMENT WARNING CAUTION 13 - 2 Generated torque Unbalance torque Servo motor speed 2) 3) Page 13 - 4 (4) Outline drawing (a) MR-RB032 MR-RB12 150(5.91) 12 (0.47) 168 (6.61) 13 - 5 13 - 6 13 - 7 CAUTION 13 - 9 13 - 10 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. 13 - 11 Page 13 - 13 13.1.3 Junction terminal block (MR-TB20) 750(1.97) 1) For CN1A 2) For CN1B 13 - 14 (4) Junction terminal block cable (MR-J 2TBL M) Model : MR-J2TBL M Cable length[m]Symbol 05 10.5 1 13 - 15 (2) Connection diagram 75(2.95) 13 - 16 (4) Bus cable (MR-J2HBUS M) 13.1.5 Battery (MR-BAT, A6BAT) Use the battery to build an absolute position detection system. Page 13 - 18 (b) Configuration diagram 1) When using RS-232C 2) When using RS-422 You can make multidrop connection of up to 32 axes. Page 13 - 20 Table 13.2 Recommended crimping terminals Table 13.4 Wire specifications 13 - 21 A E D Page Page 13 - 24 13 1 (0.51 0.04) 30 1 (1.18 0.04) Page 13 - 26 Outline drawing 13 - 27 65 (2.56) 3 (0.12) 31.5 (1.24) 35 (1.38) Page Ig1 20 1000 50.1 [mA] Ig2 20 1000 50.1 [mA] 13 - 30 (2) Connection example 14 - 1 14. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: Page Page Page Page 14 - 6 (2) Transmission of data request from the controller to the servo (3) Recovery of communication status by time-out (4) Data frames The data length depends on the command. 14 - 7 14.4 Character codes (1) Control codes For example, "61H" is transmitted in hexadecimal for group a. (2) Codes for data JIS8 unit codes are used. For example, "30H" is transmitted in hexadecim al for the station number of "0" (axis 1). (4) Group Page Page Page 14 - 11 14.11 Command and data No. list 14.11.1 Read commands (1) Status display (Command [0][1]) (2) Parameter (Command [0][5]) (3) External I/O signals (Command [1][ 2]) (4) Alarm history (Command [3][3]) 14 - 12 (5) Current alarm (Command [0][2] [3][5]) (6) Group setting (Command [1][F]) (7) Others 14.11.2 Write commands (1) Status display (Command [8][1]) 14 - 13 (5) Operation mode selection (Comm and [8][B]) (6) External input signal disable (Command [9][0]) (7) Data for test operation mode (Comm and [9][2] [A][0]) (8) Group setting (Command [9][F]) Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 15. ABSOLUTE POSITION DETECTION SYSTEM 15 - 2 15.2 Specifications (1) Specification list (2) General-purpose programmable c ontroller WARNING 15 - 4 15.4 Standard connection diagram 15 - 5 Page 15 - 7 15.7 Absolute position data transfer protocol Page Page Page Page Page Page 15 - 14 Page 15 - 16 Page Page 15 - 19 Page Page 15 - 22 Page 15 - 24 (2) Connection diagram CN1A A1SCPU A1SX40 Page 15 - 26 15 - 27 15 - 28 15 - 29 15 - 30 15 - 31 15 - 32 Page Page 15 - 35 15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) 15V 24V 15 - 36 (b) FX2N-32MT (FX2N-1PG) 15V 24V Page 15 - 38 (b) Device list 15 - 39 (c) ABS data transfer program for X-axis 15 - 40 15 - 41 15 - 42 15 - 43 15 - 44 15 - 45 Page Page 15 - 48 15.8.3 MELSEC A1SD75(AD75) (1) Connection diagram A1SCPU A1SX40 A1SY40 15 - 49 Page 15 - 51 15 - 52 15 - 53 15 - 54 15 - 55 15 - 56 Page 15 - 58 Page Page Page Page Page 15 - 64 Page Page App - 1 App endix App 1. Signal arrangement recording sheets (1) Position control mode (2) Speed control mode Appendix App 2. Analog monitor block diagram App - 3 Appendix App 3. Status display block diagram Page REVISIONS *The manual number is given on the bottom left of the back cover.