Basic procedure | Mitsubishi Electronics MR-J2S- A manual

7. GENERAL GAIN ADJUSTMENT

7.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.

(1) Basic procedure

Yes

Auto tuning adjustment

Acceleration/deceleration repeated

Load inertia moment ratio estimation value stable?

No

Auto tuning

conditions not satisfied. No (Estimation of load inertia moment ratio is difficult)

Yes

Set "020" in parameter No. 2 (auto tuning) and set parameter No. 34 (load inertia moment ratio) manually.

Adjust response level setting so that desired response is achieved on vibration-free level.

Acceleration/deceleration repeated

RequestedNo performance satisfied?

Yes

END

To manual mode

7 - 5

Image 150

Mitsubishi Electronics MR-J2S- A instruction manual Adjustment procedure by auto tuning, Basic procedure

Contents

J2-Super Series Safety Instructions To prevent electric shock, note the following HC-SFS121 HC-SFS81HC-UFS HC-SFS202 Wiring COM Usage RA EMG 24VDC Maintenance, inspection and parts replacement Dispose of the product as general industrial waste Low voltage directive ConfigurationEMC directive Machine directive Power supply WiringGrounding Auxiliary equipment and options Performing EMC tests MR-J2S-10A1 20A1 MR-J2S-40A1 60A MR-J2S-70A to 350A Use UL/C-UL standard-compliant products Contents Functions and Configuration To 4 To 5 10-12 To 910- 1 to 11- 1 to 11 13.1 12.312.4 13-13 14-26 14-2414-25 14-27Page Torque control mode Position control modeSpeed control mode Introduction Function block diagram Function block diagram of this servo is shown below Servo amplifier standard specifications Function list SectionParameter No Different types Input signal selectionModel code definition Rating plate Parameters Model Combination with servo motor Parts identification MR-J2S-100A or less Battery holderParameter setting operations Output analog monitor data Name plate Charge lamp Backup Display 5-digit, seven-segment LED shows the servo MR-J2S-200A or more Functions and Configuration Regenerative brake option Section For 3-phase 200V to 230VAC or 1-phase 230VACMRZJW3-SETUP121E Magnetic contactor No-fuse breaker Section Regenerative brake option For 1-phase 100V to 120VACServo configuration software Section Magnetic contactor Section Cables SETUP121E No-fuse breaker 2 Regenerative brake optionMRZJW3 Installation Control box Installation of two or more servo amplifiers OthersKeep out foreign materials Cable stress Signals and Wiring Position control mode FX-10GM Standard connection example Signals and Wiring AD75P A1SD75P CN1B Signals and Wiring CN1B VDD COM CN1A SP1 Signals and Wiring CN1B VDD COM CN1A Signals and Wiring Internal connection diagram of servo amplifier CN1A CN2 MDR MRR BAT I/O signals Connectors and signal arrangementsSignal arrangement CN1B CN3 RXD TXD MO1 MO2 RDP RDN CN1A and CN1B signal assignment For note, refer to the next Symbols and signal names OPC Servo-on Signal explanationsInput signals Reverse rotation ST1 CN1B CN1BTL1 ST2 CN1B SP2 CN1B Speed selectionSP1 SP3 CM2 CN1ACM1 CDP LOP CN1B TLA CN1B INP CN1A Output signalsALM CN1B TLC AL.8A AL.8EAL.1A Communication Refer to for the communication function 24VDC TLA, VC, VLA Negative logic Positive logic VDD OPC Differential line driver system Connect as shown below Ready RD Electronic gear switchingIn-position INP OFF Parameter No Parameter No Torque limitTLA Parameter No TLA Speed control mode Speed setting Generally, make connection as shown belowNo servo lock Speed reached SA As in .4.1 RS2 Speed limit RS1 RS2CCW Setting of parameter Speed limit value No to Position control mode Speed control mode Position/speed control change modeTorque limit in position control mode Control change LOP Speed setting in speed control mode Speed control mode Torque control mode Speed/torque control change modeTorque limit in speed control mode As in .4.2 Torque limit in torque control mode Speed limit in torque control modeTorque control in torque control mode As in .4.3 Torque/position control change mode Torque control mode Position control mode0V on OFF ALM OFF Precautions for alarm occurrenceSON OFF RES OFF TLA Interfaces 3.6.1 Common lineCN1A DC24V CN1B VDD COM OPC PG NG PP NP Detailed description of the interfaces Digital input interface DI-1Digital output interface DO-1 Conditions of the input pulse Lamp loadPulse train input interface DI-2 COM 24VDC VDD VDD-COM Differential line driver system 1 Interface Encoder pulse output DO-2Open collector system Interface Input impedance 10 to 12k Output pulseAnalog input Analog output Output 10V Max.1mA Source input interface SON VAC NfbmcEMG SON VDD COM ALM Terminals Emergency stop Power-on sequence Power-on procedureTiming chart VDD COM EMG Connection diagram HC-UFS13 B to 73 B HC-KFS053 B to 43 BHC-MFS053 B to 73 B HC-SFS121 B to 301 B 3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min series BlackWhite MDR CNT MRR HC-SFS HC-RFS HC-UFS2000 r/min seriesEarth BAT Setting COM MBR 24VDC Timing charts Emergency stop signal EMG ON/OFF Alarm occurrence Both main and control circuit power supplies off CN1A CN1B Approx mm Instructions for the 3M connector Connection Memo When switching power on for the first time Before starting operation, check the followingMachine Parameter setting Selection of control modePosition control mode Power on Test operation Home position return Command pulse inputServo-on Make home position return as required Speed control mode Power on Start Torque control mode Power on Multidrop communication Parameters Lists Item list MO1 FFCTLO MO2 NH2 SICNH1 LPF Details list STY ParametersBasic 1 *OP1Point Auto tuning 0105 CMX CDV Operation PG1In-position range 100 Used to set speed 1 of internal speed limits STB STC 14 TQC ParametersBasic BPSTQC Generated torque 8V/max. torque MOD Analog monitor output 01008V/max. torque Motor speed 8V/max. speed Droop pulses Used to select the status display shown at power-on 001Fh Status display selection 0000 Initial 19 *BLK Basic parameters 20 *OP2 Expansion parametersParameter block 0000 000A Function selection 0000 Function selection 3 Command pulse selection 000021 *OP3 22 *OP4 Expansion parameters 444 888 777 555 Internal torque limit 1 Parameter No Feed forward gain Used to set the fee forward gainWill be almost zero Zero speed Analog torque limit internal torque limit MBR Analog speed command offset29 VCO PG2 CN1B-5 CN1B-14 CN1A-8 CN1B-7 CN1B-8 CN1B-9 Clear signalUsed to set the differential compensation 980 1000 0000 0111 Signal selection 2 parameter NoDI2 SP2 ST1 RS2 ST2 RS1 SP3 CM1 CM2 TL1 CDP DI6 DI4DI5 48 *DI7 49 *DO1 Expansion parameters Not output CN1A-19 CN1B-18 CN1A-18 CN1B-19 CN1B-6 51 *OP6 53 *OP8 Parameters 54 *OP9 Expansion Used to select the protocol of serial communication 55 *OPA Expansion parameters 59 NH2Function selection a 0000 60 LPF Expansion parameters 61 GD2B 62 PG2B 63 VG2B VicbLow-pass filter/adaptive vibration suppression control 0000 CMX3 CMX4 SC5 Parameter No.3 Detailed description 5.2.1 Electronic gearConcept of electronic gear Parameter No.4 Instructions for reduction 131072 655361125 65536 32768 Setting for use of AD75P 131072 2000/60 Pulse/s131072 3000/60 Pulse/s 3000 131072 3000 131072 4096AD75P Analog output Alarm history clear Change the following digits of parameter No.17 Position smoothing For step inputFor trapezoidal input Memo Display flowchart Display and Operation Status display Display examplesFollowing table lists display examples Status display list CMX/CDV Control mode Status display at power-on Changing the status display screen Diagnostic mode Display and Operation Alarm mode Parameter mode Operation exampleExpansion parameters CN1B CN1B CN1A CN1B External I/O signal displayDisplay definition CN1A CN1B CN1B CN1B CN1B CN1A Control modes and I/O signals Symbol and signal names Default signal indications Output signal forced output do forced output Mode change How to use the buttons is explained below Jog operationTermination of jog operation How to use the keys is explained below Positioning operationTravel distance pulse 10000 Speed r/min 200 To terminate the motor-less operation, switch power off Motor-less operationTermination of motor-less operation General Gain Adjustment Gain adjustment mode explanation You can automatically set the optimum gains Adjustment sequence and mode usageAdjustment using servo configuration software Time Auto tuning Auto tuning mode Position control gainSpeed control gain PG1,VG1 Auto tuning mode operationBlock diagram of real-time auto tuning is shown below PG2,VG2,VIC Adjustment procedure by auto tuning Basic procedure Response level setting in auto tuning mode Adjustment by manual mode Manual mode 1 simple manual adjustmentOperation of manual mode Adjustment procedure For position control Suppression of machine resonance General Gain Adjustment Adjustment procedure Interpolation modeFollowing parameters are adjustable manually Adjustment description 30Hz Auto tuning selection15Hz 100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz Memo Special Adjustment Functions Machine resonance suppression filter Function Parameters Deep 40dB 14dB 8dB Shallow 4dB Adaptive vibration suppression control Function Low-pass filter Function Gain changing function Applications Speed Integral Changing ratio Compensation to VIC Position control gain Rad/sSpeed control gain Rad/s Used to set the changing condition values Gain changing condition CDS parameter No Parameters No , 34 toGain changing selection CDP parameter No Gain changing time constant CDT parameter No Setting This operation will be described by way of setting examplesWhen you choose changing by external input Gain changing operation Gain changing selection 0003 When you choose changing by droop pulsesSpeed integral compensation 250 Changing ratio Position control gain 120 Speed control gain 3000 4000 Memo 100,000 times InspectionLife 10,000 to 30,000hours 2 to 3 years Memo Make operation instable Position control mode TroubleshootingTrouble at start-up LSP/LSN-SG are not Connected No pulses is input Chapter How to find the cause of position shift CMX CDV Power supply of CN1 cabling is Torque control mode When alarm or warning has occurred Alarms and warning list A183V or A160V or Control power failure of 60ms or Less LongerMR-J2S Change the servo amplifier Ground fault Occurred at Output wires are in contact at Alarm AL.17 or AL.19 occurs ifCN1B and CN3 connectors are Disconnected Position erase Data in error Option, change regenerative brake Reexamine accelerationChange lead Option AL.35 Command Input pulse Pulse frequency of the command Computer Personal computer faulty Remedies for warnings AL.EA ABS TE1 TE2 TE1 MR-J2S-70A MR-J2S-100A MR-J2S-70A MR-J2S-100A MR-J2S-200A MR-J2S-350A MR-J2S-200A MR-J2S-350A Soldered type Connectors Servo amplifier side Sumitomo 3M makeInsulation displacement type Threaded type DE-C1-J6-S6 34.51.36 190.75 24.990.98 331.30 60.24 #4-40 Memo Overload protection characteristics Electronic thermal relay protection characteristicsMR-J2S-10A to MR-J2S-100A HC-MFS23 HC-UFS23 HC-KFS43 HC-KFS053HC-MFS053 HC-UFS13 HC-KFS23 HC-MFS43 HC-UFS43 Temperature distribution in enclosure Heat dissipation area for enclosed servo amplifier Mmin There is internal relay delay time of about 30ms12.2 Mm/minin/min HC-SFS2000r/min series HC-SFS3000r/min series HC-MFS seriesHC-SFS1000r/min series HC-RFS series HC-UFS 2000r/min series Encoder cable flexing life MR-JCCBL M-H MR-JHSCBL M-H MR-ENCBL M-HMR-JCCBL M-L MR-JHSCBL M-L Options and Auxiliary Equipment Selection of the regenerative brake option JM No 1047 1047 JM NoNo regeneration Connection of the regenerative brake option MR-RB32 MR-RB30 Outline drawingMR-RB032 MR-RB12 MR-RB50 Cables and connectors Cable make-up HC-KFS MR-JHSCBL M-L MR-JCCBL M-LMR-JCCBL M-H MR-JHSCBL M-H MR-TB20 MR-J2CN1MR-J2TBL M MR-J2HBUS M Standard flexing life Long flexing life For use of AWG24 MR-JHSCBL M-L MDRMRR SHD MR-JHSCBL2M-L Communication cable MR-CPCATCBL3MTXD RXD GND RTS CTS DSR DTR Terminal labels How to use the junction terminal blockJunction terminal block MR-TB20 For CN1A For CN1B INP ALM Junction terminal block cable MR-J2TBL M Model MR-J2TBL MSP2 SP1 ST1 B10 A10 CN3 CN3B CN3A CN3C Maintenance junction card MR-J2CN3TM UsageMR-J2HBUS M TE1 CN3A CN3B CN3C MO1 MO2 VDD COM EMI MBR Battery MR-BAT, A6BAT Bus cable MR-J2HBUS M System configuration Configuration diagram 1 When using RS-232C CN3 CN2 Auxiliary equipment Recommended wires Wires for power supply wiringRecommended wires 5mm2 for use of the HC-RFS203 servo motor Wire specifications Wires for cablesWires for option cables Recommended crimping terminals Power factor improving reactors No-fuse breakers, fuses, magnetic contactors Surge absorbers RelaysFollowing relays should be used with the interfaces Noise reduction techniques Options and Auxiliary Equipment Noise reduction products 10 to 100MHZ 100 to 500MHZ 150 Ex A.2003 Outline drawing FR-BLFMR-J2S-350A Leakage current breaker Selection method NV-SFNV-CF Selection example SF1252 EMC filterCombination with the servo amplifier MR-J2S-200A MR-J2S-350A SF1253 Configuration 14.1.1 RS-422 configuration Outline Cable connection diagramWire as shown below 14.1.2 RS-232C configuration Outline Single axis of servo amplifier is operated Communication specifications 14.2.1 Communication overview DescriptionLSB MSB Communication baudrate Communication delay timeStation number setting RS-422/RS-232C serial interface selection Protocol Transmission of data from the controller to the servo Recovery of communication status by time-out Data length depends on the commandData frames JIS8 unit codes are used For example, 61H is transmitted in hexadecimal for group a Checksum range Error codesChecksum SOH Time-out operation Retry operation Data item Value Description Communication procedure exampleInitialization STX Alarm history Command Parameter CommandExternal I/O signals Command 00 to Write commands Status display Command Current alarm Command 02Group setting Command 1F Current alarm Command Data for test operation mode Command 92 A0 Operation mode selection Command 8BExternal input signal disable Command Group setting Command 9F Detailed explanations of commands 14.12.1 Data processing Processing the read data Writing the processed data Status display data clear Command Data NoStatus display Status display data read 1EA5 Parameter Parameter read 00 to Command Data No Set data Parameter write00 to See below Reply ON/OFF statuses of the input pins are sent back External output pin status read External input signals DI Disable/enable of external I/O signals DIOSignal Status Enable External input signal ON/OFF test operation Cancel the test operation mode Test operation mode Instructions for test operation mode1EA5 Choose the test operation mode Enable the disabled external input signals Jog operation External output signal ON/OFF Output signal pin ON/OFF do forced outputChoosing do forced output in test operation mode Command Data No Setting data Alarm occurrence time read Alarm history Alarm No. readFor example, 0032 means AL.32 and 00FF means AL. no alarm Erase the alarm history Send command 82 and data No Current alarm Current alarm read Read of the status display at alarm occurrenceCurrent alarm clear Reply Slave station sends back the requested command pulses Other commands Servo motor end pulse unit absolute positionCommand unit absolute position Software version Memo CPU Outline 15.1.1 FeaturesRestrictions LSO Specifications Specification list General-purpose programmable controllerCN1A CN2 CN1B Battery connector Operation window Standard connection diagram Amplifier is in the ABS transfer mode, and the functions Signal explanationAbsm Absr Home position setting Startup procedure Battery installationResetting of absolute position erase alarm AL.25 Confirmation of absolute position data transfer Data transfer procedure Absolute position data transfer protocolSON on At power-on Timing chartTransfer method CN1B-4 Positioning completion ABS data bit CN1A-18 Positioning completion ABS data bit Detailed description of absolute position data transfer Therefore, the check sum of 10 ABS data is 2Db Ffff FFF6 Transmission error Yes AL.E5 warning Signal is not turned OFF At the time of alarm reset At the time of emergency stop reset EMG OFF Send ABS data Home position setting Dog type home position return DOG OFF Data set type home position return Use of servo motor with electromagnetic brake Absolute Position Detection System Examples of use MELSEC-A1S A1SD71 Instructions ABS ABS coordinate system Slot No 1 2 3 4 5 6 A1SCPU A1SX40 Sequence program example Y4B PLS PLS100 10 to PLS M12 RST C2 Saving ABS 32-bit data Clearing register Reading 4 bits A1SD71 reading home position address ABS transfer retry start pulse Axis start program Electromagnetic brake output Sequence program 2-axis control Dtop Melsec FX2N-32MT FX2N-1PG Connection diagram FX-32MT FX-1PG FX2N-32MT FX2N-1PG 0PPS PIIVII T203 Ready to send response timer M62 Sum check discrepancy greater T200 Retry wait timer M63Clear signal on timer request Electromagnetic brake output ABS data transfer program for X-axis To K0 DTO K0 Dmov K0 SET Zrst RST PLS ABS Setting servo-on request Retry control OFF From K0 Changing X-axis present position data ABS transfer Zero speed mode ABS transfer mode Melsec A1SD75AD75 Connection diagram A1SCPU Absolute Position Detection System Y3A Output signal reset Reading A1SD75 1-axis RDY Masking ABS data sign WOR ROR PLS ABS request reset Dmov A0 Wand Y1D PC RUN Servo positioning completion H0000 K1154 D3 Differences between A1SD75 AD75 and A1SD71 AD71 BusyY1D Absolute Position Detection System Confirmation of absolute position detection data Y4A ABS Y4B ABS communication error Error resetting conditions Appendix App App 2. Analog monitor block diagram Appendix PWM App 3. Status display block diagram Appendix Memo Manual number is given on the bottom left of the back cover SHNA030006-ASep.,2000 SHNA030006-B Sep.,2000