Mitsubishi Electronics MR-J2S- A 7. GENERAL GAIN ADJUSTMENT

7 - 1

7. GENERAL GAIN ADJUSTMENT

7. GENERAL GAIN ADJUSTMENT

POINT

For use in the torque control mode, you need not make gain adjustment.

7.1 Different adjustment methods

7.1.1 Adjustment on a single servo amplifier

The gain adjustment in this section can be made on a single servo amplif ier. For gain adjustment, f irst

execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual

mode 1 and manual mode 2 in this order.

(1) Gain adjustment mode explanatio n

Gain adjustment mode Parameter No. 2

setting

Estimation of load inertia

moment ratio

Automatically set

parameters Manually set parameters

Auto tuning mode 1

(initial value) 010 Always estimated PG1 (parameter No. 6)

GD2 (parameter No. 34)

PG2 (parameter No. 35)

VG1 (parameter No. 36)

VG2 (parameter No. 37)

VIC (parameter No. 38)

Response level setting of

parameter No. 2

Auto tuning mode 2 020 PG1 (parameter No. 6)

PG2 (parameter No. 35)

VG1 (parameter No. 36)

VG2 (parameter No. 37)

VIC (parameter No. 38)

GD2 (parameter No. 34)

Response level setting of

parameter No. 2

Manual mode 1 030 PG2 (par ame ter No. 35)

VG1 (parameter No. 36) PG1 (parameter No. 6)

GD2 (parameter No. 34)

VG2 (parameter No. 37)

VIC (parameter No. 38)

Manual mode 2 040

Fixed to parameter No.

34 value

PG1 (parameter No. 6)

GD2 (parameter No. 34)

PG2 (parameter No. 35)

VG1 (parameter No. 36)

VG2 (parameter No. 37)

VIC (parameter No. 38)

Interpolation mode 000 Always estimated GD2 (parameter No. 34)

PG2 (parameter No. 35)

VG2 (parameter No. 37)

VIC (parameter No. 38)

PG1 (parameter No. 6)

VG1 (parameter No. 36)

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 (6) Maintenance, inspection and parts replacement CAUTION (7) General instruction About processing of waste Precautions for Choosing the Products COMPLIANCE WITH EC DIRECTIVES Page Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Page Page Optional Servo Motor Instruction Manual CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 2 1 - 3 (2) MR-J2S-500A MR-J2S-700A 1 - 4 (3) MR-J2S-11KA or more 1 - 5 1.3 Servo amplifier standard specifications 1 - 6 1 - 7 1.5 Model code definition (1) Rating plate MITSUBISHI 1 - 8 (2) Model 1 - 9 1 - 10 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100A or less 1 - 11 (2) MR-J2S-200A MR-J2S-350A 1 - 12 (3) MR-J2S-500A 1 - 13 (4) MR-J2S-700A front cover, refer to next page. 1 - 14 (5) MR-J2S-11KA or more front cover, refer to section 1. 7. 2. 1 - 15 1.7.2 Removal and reinstallation of the front cover CAUTION on. (1) For MR-J2S-350A or less (2) For MR-J2S-500A 1 - 16 (3) For MR-J2S-700A Page Page 1 - 19 1.8 Servo system with auxiliary equipment WARNING 1 - 20 (b) For 1-phase 100V to 120VAC 1 - 21 (2) MR-J2S-200A MR-J2S-350A or more 1 - 22 (3) MR-J2S-500A 1 - 23 (4) MR-J2S-700A 1 - 24 (5) MR-J2S-11KA or more 2. INSTALLATION Page Page Page 3. SIGNALS AND WIRING WARNING 3 - 2 3.1 Standard connection example 3 - 3 3 - 4 (2) AD75P (A1SD75P ) 3 - 5 3 - 6 3.1.2 Speed control mode 3 - 7 3 - 8 3.1.3 Torque control mode 3 - 9 3 - 10 2. For the 11kW or more servo amplifier, MO1 is replaced by CN4-1 and MO2 by CN4-2. Note1. P: Position control mode, S: Speed control mode, T: Torque control mode 3 - 11 3.3 I/O signals 3.3.1 Connectors and signal arrangements 3 - 12 (2) MR-J2S-11KA or more 3 - 13 3 - 14 (4) Symbols and signal names 3 - 15 3 - 16 3 - 17 3 - 18 3 - 19 3 - 20 (2) Output signals 3 - 21 3 - 22 (3) Communication Refer to Chapter 14 for the communication function. 3 - 23 (4) Power supply Page Page Page Page CAUTION Page Page Page Page Page Page Page Page Page Page Page 3 - 40 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. ALM .etc Page 3 - 42 (b) Lamp load For use of internal power supply For use of external power supply 2) Conditions of the input pulse Page Page 3 - 45 Page 3 - 47 (2) For 1-phase 100 to 120VAC or 1-ph ase 230VAC power supply 3 - 48 Page WARNING 3 - 51 3 - 52 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series 3 - 53 (2) HC-SFS HC-RFS HC-UFS2000 r/min series Page 3 - 55 (b) Emergency stop (EMG) ON/OFF 3 - 56 (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 - 57 WARNING Page Page Page Page 3 - 62 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22K A 3 - 63 3 - 64 3.13.3 Servo motor terminals Terminal box inside (HA-LFS11K2) Power supply connection screw size 3 - 65 Terminal box inside (HA-LFS15K2 HA-LFS-22K2) Power supply connection screw size Page 4. OPERATION WARNING CAUTION Page Page Page Page 5. PARAMETERS CAUTION Page 5 - 3 5 - 4 5 - 5 (2) Details list 5 - 6 0 0 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 Class No. Symbol Name and function Initial value Unit Setting P S T Expansion parameters 1 range Control 5 - 21 5 - 22 5 - 23 5 - 24 5 - 25 CAUTION CDV CMX 0Pt S0Pt n Pb 10 10 1/2 10 131072 262144 1000 26214 450 36000 1 131072 4 64 360 359.995 Page Page Page 5 - 31 5 - 32 (3) Analog monitor block diagram Page Page 6 - 1 6. DISPLAY AND OPERATION UP DOWN MODE ower-on. 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 7 - 5 Page Page Page Page Page 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 10 - 13 10.2.3 Remedies for warnings CAUTION position setting again. Otherwise, misoperation may occur. 10 - 14 11 - 1 11. OUTLINE DIMENSION DRAWINGS (0.79) Approx.7 (0.28) 11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1 168 (6.61) 11 - 2 (2) MR-J2S-70A MR-J2S-100A 168(6.61) Approx.7 (0.28) (0.79) 11 - 3 (3) MR-J2S-200A MR-J2S-350A 168(6.61) 156(6.14) 6 11 - 4 (4) MR-J2S-500A 11 - 5 (5) MR-J2S-700A 11 - 6 (6) MR-J2S-11KA 15KA Approx. 75 (2.95) 11 - 7 (7) MR-J2S-22KA Approx. 75 (2.95) 11 - 8 11.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type (b) Threaded type 11 - 9 (c) Insulation displacement type (2) Bus cable connector <Honda Tsushin Industry> PCR-LS20LA1 PCR-LS20LA1W 11 - 10 (3) Communication cable connector <Japan Aviation Electronics Industry > 12. CHARACTERISTICS 12 - 2 12 - 3 Page Page 12 - 6 c. HC-SFS1000r/min series d. HC-SFS2000r/min series e. HC-SFS3000r/min series f. HC-RFS series g. HC-UFS 2000r/min series h. HC-UFS3000r/min series i. HA-LFS series j. HC-LFS series Fig. 12.8 Dynamic brake time constant 2 12 - 7 Flexing life [times] Page 13. OPTIONS AND AUXILIARY EQUIPMENT WARNING CAUTION 13 - 2 Generated torque Unbalance torque Servo motor speed 2) 3) Page Page Page 13 - 6 For the MR-RB50 MR-RB51 install the cooling fan as shown. Page 13 - 8 (5) Outline drawing (a) MR-RB032 MR-RB12 12 (0.47) 6 (0.23) 156 (6.14) 168 (6.61) 144 (5.67) 13 - 9 (c) MR-RB50 MR-RB51 (d) MR-RB65 MR-RB66 MR-RB67 (e) GRZG400-2 GRZ G400-1 GRZG400-0.8 (standard accessories) Page 13 - 11 (3) Outside dimensions (a) Brake unit (FR-BU) [Unit : mm(in)] 13 - 12 (b) Resistor unit (FR-BR) [Unit : mm(in)] Power regeneration converter Nominal Regenerative Power (kW) 13 - 13 13 - 14 (3) Outside dimensions of the power r egeneration converters [Unit : mm(in)] 13 - 15 13 - 16 Page 13 - 18 13 - 19 13 - 20 CAUTION 13 - 22 13 - 23 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. 13 - 24 Page 13 - 26 13.1.6 Junction terminal block (MR-TB20) 750(1.97) 1) For CN1A 2) For CN1B 13 - 27 (4) Junction terminal block cable (MR-J 2TBL M) Model : MR-J2TBL M Cable length[m(ft)]Symbol 05 10.5 (1.64) 1 (3.28) 13 - 28 13.1.7 Maintenance junction card (MR-J2CN3TM) 75(2.95) Page 13 - 30 13 - 31 (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 - 33 MC N R2/L1 CN2 13 - 34 13 - 35 (5) Specifications Page 13 - 37 (3) Fitting method 13 - 38 (b) MR-JACN22K (MR-J2S-22KA) Page 13 - 40 Table 13.1 Recommended wires Table 13.2 Recommended crimping terminals 13 - 41 13 - 42 13 - 43 13.2.4 Power factor improving DC reactors The input power factor is improved to be about 95%. Page Page 13 - 46 13 1 (0.51 0.04) 30 1 (1.18 0.04) Page 13 - 48 Outline drawing 13 - 49 42 (1.65) 4 (0.16) About 300(11.81) 13 - 50 Leakage current Ig1 20 1000 50.1 [mA] Ig2 20 1000 50.1 [mA] 13 - 52 13 - 53 HF3040A-TM HF3050A-TM HF3060A-TMA HF3080A-TMA HF3100A-TMA 13 - 54 Connection diagram Outline dimension drawing Panel hole machining diagram Connection diagram 14. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: 14 - 2 14.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. 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, "30H" is transmitted in hexadecim al for the station number of "0" (axis 1). (2) Codes for data ASCII unit codes are used. Page Page Page 14 - 11 14.11 Command and data No. list (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) Others 14.11.2 Write commands (1) Status display (Command [8][1]) (2) Parameter (Command [8][4]) 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]) Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 15. ABSOLUTE POSITION DETECTION SYSTEM CAUTION 15 - 2 15.2 Specifications (1) Specification list (2) Configuration 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 A1SCPU CN1A A1SX40 A1SY40 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 15 - 47 15.8.3 MELSEC A1SD75 (1) Connection diagram A1SCPU A1SX40 A1SY40 Page Page 15 - 50 15 - 51 15 - 52 15 - 53 15 - 54 15 - 55 Page 15 - 57 Page Page Page Page Page 15 - 63 Page Page Page App - 1 App endix App 1. Signal arrangement recording sheets (1) Position control mode (2) Speed control mode Appendix App 2. Status display block diagram App - 3 Appendix App 3. Combination of servo amplifier and servo motor Page REVISIONS *The manual number is given on the bottom left of the back cover.