8. GENERAL GAIN ADJUSTMENT

8.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

 

 

 

 

 

Automatic setting

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Command

Control gains

 

Current

 

 

 

 

 

PG1,VG1

 

 

 

 

 

control

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

PG2,VG2,VIC

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Current feedback

 

 

 

 

 

Set 0 or 1 to turn on.

Real-time auto

 

 

 

 

 

 

 

 

 

 

tuning section

 

 

 

 

 

 

 

 

 

 

Load inertia moment

Encoder

Servo motor

Position/speed feedback

Gain table

Parameter No. 3

First digit

Third digit Response level setting Auto tuning selection

Load inertia

moment ratio

Switch estimation section Speed feedback

Parameter No. 34 Load inertia moment ratio estimation value

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No. 34 (load inertia moment ratio). These results can be confirmed on the status display screen of the servo amplifier display section.

If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,

chose the "auto tuning mode 2" (parameter No.3: 2 ) to stop the estimation of the load inertia moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No. 34) manually.

From the preset load inertia moment ratio (parameter No. 34) value and response level (The first digit of parameter No. 2), the optimum control gains are automatically set on the basis of the internal gain tale. The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power- on. At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM being used as an initial value.

POINT

If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No. 3: 020) and set the correct load inertia moment ratio in parameter No. 34.

When any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1 settings is changed to the manual mode 2 setting, the current control gains and load inertia moment ratio estimation value are saved in the EEP-ROM.

8 - 4

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Mitsubishi Electronics MR-J2S- CL Auto tuning mode operation, Block diagram of real-time auto tuning is shown below
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MR-J2S- CL specifications

Mitsubishi Electronics has long been a pioneer in automation and control technology, and one of its prominent offerings is the MR-J2S-CL servo amplifier. Designed to enhance the performance of servo motors, the MR-J2S-CL is a critical component in various applications, ranging from industrial machinery to robotics.

One of the standout features of the MR-J2S-CL is its high-performance control capabilities. This servo amplifier supports both position and speed control, enabling precise movement and responsiveness in dynamic applications. The MR-J2S-CL boasts a sophisticated control algorithm that ensures superior torque response, making it ideal for applications that require quick and accurate motion control.

The MR-J2S-CL employs advanced features such as the Auto-Tuning function, which automatically adjusts the servo settings to optimize performance for the specific load conditions. This automation simplifies setup processes and reduces downtime, allowing users to quickly configure the system to their needs.

In terms of connectivity, the MR-J2S-CL is equipped with various communication options, including the CC-Link and Mitsubishi's own MELSEC communications. These options facilitate seamless integration with other devices and control systems, enhancing the overall interoperability of factory automation setups.

Another critical aspect of the MR-J2S-CL is its built-in safety features. The amplifier includes functionalities like safe torque off (STO) and overcurrent protection, which contribute to the overall safety of the operation. These safety measures are essential in reducing the risk of accidents in environments where human interaction occurs alongside machinery.

The MR-J2S-CL is designed with durability and reliability in mind. It has a robust construction that is capable of withstanding harsh industrial environments, including high temperatures and dust exposure. This resilience ensures a long service life, reducing maintenance needs and operational costs.

Furthermore, the MR-J2S-CL is compatible with a wide range of Mitsubishi servo motors, making it a versatile choice for various applications. Its comprehensive capabilities, combined with user-friendly interface options, allow for easy programming and monitoring of performance.

In summary, the Mitsubishi Electronics MR-J2S-CL servo amplifier stands out for its high-performance control, advanced safety features, and robust design. It effectively meets the demands of various industrial applications, making it a valuable asset in modern automation and manufacturing environments. With its blend of precision, reliability, and flexibility, the MR-J2S-CL continues to be a preferred choice for engineers and manufacturers alike.
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