Auto tuning selection, 15Hz | Mitsubishi Electronics MR-J2S- A

7. GENERAL GAIN ADJUSTMENT

7.5Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 7.5.1 Response level setting

To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.

Parameter No. 2

2

Response level setting

MELSERVO-J2 series		MELSERVO-J2-Super series
Response level setting	Machine resonance frequency	Response level setting	Machine resonance frequency guideline

		1	15Hz
1	20Hz	2	20Hz
		3	25Hz
		4	30Hz
		5	35Hz
2	40Hz	6	45Hz
		7	55Hz
3	60Hz	8	70Hz
4	80Hz	9	85Hz
5	100Hz	A	105Hz
		B	130Hz
		C	160Hz
		D	200Hz
		E	240Hz
		F	300Hz

Note that because of a slight difference in gain adjustment pattern, response may not be the same if the resonance frequency is set to the same value.

7.5.2 Auto tuning selection

The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has the addition of the manual mode 1 which permits manual adjustment with three parameters.

Parameter No. 2

1

				Auto tuning selection

	Gain adjustment mode		Auto tuning selection (Third digit setting)		Remarks
	Gain adjustment mode		MELSERVO-J2 series	MELSERVO-J2-Super series	Remarks
			MELSERVO-J2 series	MELSERVO-J2-Super series
	Interpolation mode		0	0	Position control gain 1 (PG1) is
	Interpolation mode		0	0	fixed.
					fixed.
		Auto tuning mode 1	1	1	Ordinary auto tuning
	Auto tuning				Estimation of load inertia moment
	Auto tuning	Auto tuning mode 2		2	ratio stopped.
		Auto tuning mode 2		2	ratio stopped.
					Response level setting valid.
	Auto tuning	Manual mode 1		3	Simple manual adjustment
	invalid	Manual mode 2	2	4	Manual adjustment of all gains

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Mitsubishi Electronics MR-J2S- A Auto tuning selection, 15Hz, 100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz

Contents

J2-Super Series Safety Instructions To prevent electric shock, note the following HC-SFS81 HC-UFSHC-SFS121 HC-SFS202 Wiring COM Usage RA EMG 24VDC Maintenance, inspection and parts replacement Dispose of the product as general industrial waste Configuration EMC directiveLow voltage 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 To 9 10- 1 to10-12 11- 1 to 11 12.3 12.413.1 13-13 14-24 14-2514-26 14-27Page Position control mode Speed control modeTorque control mode Introduction Function block diagram Function block diagram of this servo is shown below Servo amplifier standard specifications Function list SectionParameter No Input signal selection Model code definition Rating plateDifferent types Parameters Model Combination with servo motor Battery holder Parameter setting operationsParts identification MR-J2S-100A or less 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 For 3-phase 200V to 230VAC or 1-phase 230VAC MRZJW3-SETUP121ERegenerative brake option Section Magnetic contactor For 1-phase 100V to 120VAC Servo configuration software SectionNo-fuse breaker Section Regenerative brake option 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 I/O signals Connectors and signal arrangements Signal arrangementCN1A CN2 MDR MRR BAT CN1B CN3 RXD TXD MO1 MO2 RDP RDN CN1A and CN1B signal assignment For note, refer to the next Symbols and signal names OPC Signal explanations Input signalsServo-on Reverse rotation CN1B TL1ST1 CN1B ST2 CN1B Speed selection SP1SP2 CN1B SP3 CN1A CM1CM2 CDP LOP CN1B TLA CN1B Output signals ALM CN1BINP CN1A 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 Electronic gear switching In-position INPReady RD OFF Torque limit TLAParameter No Parameter No 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/speed control change mode Torque limit in position control modePosition control mode Speed control mode Control change LOP Speed setting in speed control mode Speed/torque control change mode Torque limit in speed control modeSpeed control mode Torque control mode As in .4.2 Speed limit in torque control mode Torque control in torque control modeTorque limit in torque control mode As in .4.3 Torque/position control change mode Torque control mode Position control mode0V on OFF Precautions for alarm occurrence SON OFFALM OFF RES OFF Interfaces 3.6.1 Common line CN1A DC24V CN1B VDD COMTLA OPC PG NG PP NP Detailed description of the interfaces Digital input interface DI-1Digital output interface DO-1 Lamp load Pulse train input interface DI-2Conditions of the input pulse COM 24VDC VDD VDD-COM Differential line driver system 1 Interface Encoder pulse output DO-2Open collector system Interface Output pulse Analog inputInput impedance 10 to 12k Analog output Output 10V Max.1mA Source input interface SON VAC NfbmcEMG SON VDD COM ALM Terminals Power-on sequence Power-on procedure Timing chartEmergency stop VDD COM EMG Connection diagram HC-KFS053 B to 43 B HC-MFS053 B to 73 BHC-UFS13 B to 73 B HC-SFS121 B to 301 B 3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min series BlackWhite HC-SFS HC-RFS HC-UFS2000 r/min series EarthMDR CNT MRR 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 Selection of control mode Position control mode Power onParameter setting Test operation Command pulse input Servo-onHome position return Make home position return as required Speed control mode Power on Start Torque control mode Power on Multidrop communication Parameters Lists Item list FFC TLOMO1 MO2 SIC NH1NH2 LPF Details list STY ParametersBasic 1 *OP1Point Auto tuning 0105 CMX CDV PG1 In-position range 100Operation Used to set speed 1 of internal speed limits STB STC 14 TQC ParametersBasic BPSTQC MOD Analog monitor output 0100 8V/max. torque Motor speed 8V/max. speedGenerated torque 8V/max. torque Droop pulses Used to select the status display shown at power-on 001Fh Status display selection 0000 19 *BLK Basic parameters 20 *OP2 Expansion parameters Parameter block 0000Initial 000A Function selection 3 Command pulse selection 0000 21 *OP3 22 *OP4 Expansion parametersFunction selection 0000 444 888 777 555 Feed forward gain Used to set the fee forward gain Will be almost zero Zero speedInternal torque limit 1 Parameter No Analog torque limit internal torque limit Analog speed command offset 29 VCOMBR PG2 Clear signal Used to set the differential compensationCN1B-5 CN1B-14 CN1A-8 CN1B-7 CN1B-8 CN1B-9 980 1000 0000 Signal selection 2 parameter No DI20111 SP2 ST1 RS2 ST2 RS1 SP3 CM1 CM2 TL1 CDP DI4 DI5DI6 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 Detailed description 5.2.1 Electronic gear Concept of electronic gearParameter No.3 Parameter No.4 131072 65536 1125Instructions for reduction 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 External I/O signal display Display definitionCN1B CN1B CN1A CN1B 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 Adjustment sequence and mode usage Adjustment using servo configuration softwareYou can automatically set the optimum gains Time Auto tuning Auto tuning mode Position control gainSpeed control gain Auto tuning mode operation Block diagram of real-time auto tuning is shown belowPG1,VG1 PG2,VG2,VIC Adjustment procedure by auto tuning Basic procedure Response level setting in auto tuning mode Manual mode 1 simple manual adjustment Operation of manual modeAdjustment by manual mode Adjustment procedure For position control Suppression of machine resonance General Gain Adjustment Interpolation mode Following parameters are adjustable manuallyAdjustment procedure Adjustment description Auto tuning selection 15Hz30Hz 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 Position control gain Rad/s Speed control gain Rad/sSpeed Integral Changing ratio Compensation to VIC Used to set the changing condition values Parameters No , 34 to Gain changing selection CDP parameter NoGain changing condition CDS parameter No Gain changing time constant CDT parameter No This operation will be described by way of setting examples When you choose changing by external inputSetting Gain changing operation When you choose changing by droop pulses Speed integral compensation 250 Changing ratioGain changing selection 0003 Position control gain 120 Speed control gain 3000 4000 Memo Inspection Life100,000 times 10,000 to 30,000hours 2 to 3 years Memo Position control mode Troubleshooting Trouble at start-upMake operation instable 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 A160V or Control power failure of 60ms or Less Longer MR-J2SA183V or Change the servo amplifier Alarm AL.17 or AL.19 occurs if CN1B and CN3 connectors are DisconnectedGround fault Occurred at Output wires are in contact at Position erase Data in error Reexamine acceleration Change leadOption, change regenerative brake 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 Connectors Servo amplifier side Sumitomo 3M make Insulation displacement typeSoldered 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-KFS053 HC-MFS053 HC-UFS13 HC-KFS23HC-MFS23 HC-UFS23 HC-KFS43 HC-MFS43 HC-UFS43 Temperature distribution in enclosure Heat dissipation area for enclosed servo amplifier There is internal relay delay time of about 30ms 12.2Mmin Mm/minin/min HC-MFS series HC-SFS1000r/min seriesHC-SFS2000r/min series HC-SFS3000r/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 Outline drawing MR-RB032 MR-RB12MR-RB32 MR-RB30 MR-RB50 Cables and connectors Cable make-up HC-KFS MR-JCCBL M-L MR-JCCBL M-HMR-JHSCBL M-L MR-JHSCBL M-H MR-J2CN1 MR-J2TBL MMR-TB20 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 How to use the junction terminal block Junction terminal block MR-TB20Terminal labels For CN1A For CN1B Junction terminal block cable MR-J2TBL M Model MR-J2TBL M SP2 SP1 ST1INP ALM B10 A10 Maintenance junction card MR-J2CN3TM Usage MR-J2HBUS MCN3 CN3B CN3A CN3C 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 Recommended wires Wires for power supply wiring Recommended wiresAuxiliary equipment 5mm2 for use of the HC-RFS203 servo motor Wires for cables Wires for option cablesWire specifications Recommended crimping terminals Power factor improving reactors No-fuse breakers, fuses, magnetic contactors Relays Following relays should be used with the interfacesSurge absorbers 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 EMC filter Combination with the servo amplifierSF1252 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 delay time Station number settingCommunication baudrate 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 Error codes ChecksumChecksum range SOH Time-out operation Retry operation Communication procedure example InitializationData item Value Description STX Parameter Command External I/O signals CommandAlarm history Command 00 to Current alarm Command 02 Group setting Command 1FWrite commands Status display Command Current alarm Command Operation mode selection Command 8B External input signal disable CommandData for test operation mode Command 92 A0 Group setting Command 9F Detailed explanations of commands 14.12.1 Data processing Processing the read data Writing the processed data Command Data No Status display Status display data readStatus display data clear 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 Disable/enable of external I/O signals DIO Signal StatusExternal input signals DI Enable External input signal ON/OFF test operation Test operation mode Instructions for test operation mode 1EA5 Choose the test operation modeCancel the test operation mode Enable the disabled external input signals Jog operation Output signal pin ON/OFF do forced output Choosing do forced output in test operation modeExternal output signal ON/OFF Command Data No Setting data Alarm history Alarm No. read For example, 0032 means AL.32 and 00FF means AL. no alarmAlarm occurrence time read 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 Other commands Servo motor end pulse unit absolute position Command unit absolute positionReply Slave station sends back the requested command pulses Software version Memo Outline 15.1.1 Features RestrictionsCPU LSO Specifications Specification list General-purpose programmable controllerCN1A CN2 CN1B Battery connector Operation window Standard connection diagram Signal explanation AbsmAmplifier is in the ABS transfer mode, and the functions Absr Startup procedure Battery installation Resetting of absolute position erase alarm AL.25Home position setting 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 M62 Sum check discrepancy greater T200 Retry wait timer M63 Clear signal on timer requestT203 Ready to send response timer 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