Telex MR-J2S- B 6. GENERAL GAIN ADJUSTMENT

6 - 1

6. GENERAL GAIN ADJUSTMENT

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 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. 8

setting

Estimation of load inertia

moment ratio

Automatically set

parameters Manually set parameters

Auto tuning mode 1

(initial value) 0001 Always estimated GD2 (parameter No. 12)

PG1 (parameter No. 13)

VG1 (parameter No. 14)

PG2 (parameter No. 15)

VG2 (parameter No. 16)

VIC (parameter No. 17)

RSP (parameter No. 9)

Auto tuning mode 2 0003 PG1 (parameter No. 13)

VG1 (parameter No. 14)

PG2 (parameter No. 15)

VG2 (parameter No. 16)

VIC (parameter No. 17)

GD2 (parameter No. 12)

RSP (parameter No. 9)

Manual mode 1 0004 VG1 (parameter No. 14)

PG2 (parameter No. 15) GD2 (parameter No. 12)

PG1 (parameter No. 13)

VG2 (parameter No. 16)

VIC (parameter No. 17)

Manual mode 2 0002

Fixed to parameter No.

12 value

GD2 (parameter No. 12)

PG1 (parameter No. 13)

VG1 (parameter No. 14)

PG2 (parameter No. 15)

VG2 (parameter No. 16)

VIC (parameter No. 17)

Interpolation mode 0000 Always estimated GD2 (parameter No. 12)

PG2 (parameter No. 15)

VG2 (parameter No. 16)

VIC (parameter No. 17)

PG1 (parameter No. 13)

VG1 (parameter No. 14)

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 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? 2. PRECAUTIONS FOR COMPLIANCE Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Page Page 1. FUNCTIONS AND CONFIGURATION 1 - 2 1 - 3 (2) MR-J2S-500B, MR-J2S-700B 1 - 4 (3) MR-J2S-11KB or more 1 - 5 1.3 Servo amplifier standard specifications 1 - 6 1 - 7 1.5 Model code definition (1) Rating plate MITSUBISHI (2) Model 1 - 8 1 - 9 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100B or less 1 - 10 (2) MR-J2S-200B MR-J2S-350B 1 - 11 (3) MR-J2S-500B 1 - 12 (4) MR-J2S-700B 1 - 13 (5) MR-J2S-11KB or more Rating plate 1 - 14 1.7.2 Removal and reinstallation of the front cover CAUTION on. (1) For MR-J2S-350B or less (2) For MR-J2S-500B 1 - 15 (3) For MR-J2S-700B (4) For MR-J2S-11KB or more Page 1 - 17 1.8 Servo system with auxiliary equipment WARNING 1 - 18 (b) For 1-phase 100V to 120VAC 1 - 19 (2) MR-J2S-200B MR-J2S-350B 1 - 20 (3) MR-J2S-500B 1 - 21 (4) MR-J2S-700B 1 - 22 (5) MR-J2S-11KB or more 2. INSTALLATION Page Page Page 3. SIGNALS AND WIRING 3 - 2 3.1 Connection example of control signal system Page 3 - 4 3.1.2 MR-J2S-11KB or more Page 3 - 6 3.2 I/O signals 3.2.1 Connectors and signal arrangements 3 - 7 (2) MR-J2S-11KB or more 3 - 8 (2) I/O signals (a) Input signal (b) Output signals (c) Power supply CAUTION 3 - 10 Page 3 - 12 (b) Lamp load 2) Output pulse Page Page 3 - 15 (2) For 1-phase 100 to 120VAC or 1-ph ase 230VAC power supply 3 - 16 Page WARNING 3 - 19 3 - 20 3.6.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series 3 - 21 (2) HC-SFS HC-RFS HC-UFS2000 r/min series Page 3 - 23 (b) Emergency stop command (from controller) or forced stop (EM1) ON/OFF 3 - 24 (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 - 25 WARNING Page Page Page 3 - 29 3.12 Power line circuit of the MR-J2S-11KB to MR-J2S-22K B 3 - 30 3 - 31 3.12.3 Servo motor terminals Terminal box inside (HA-LFS11K2) Power supply connection screw size 3 - 32 Terminal box inside (HA-LFS15K2 HA-LFS-22K2) Note. There is no BW when the HA-LFS11K2 is used. Power supply connection screw size 4. OPERATION AND DISPLAY Page Page Page 4 - 5 (2) Indication list Note: 1. # denotes any of numerals 0 to 8 and what it means is listed below: Page Page Page 5. PARAMETERS CAUTION 5 - 2 (1) Item list 5 - 3 (2) Details list 0 0 5 - 4 5 - 5 5 - 6 5 - 7 0 0 5 - 8 5 - 9 5 - 10 Page 5 - 12 5 - 13 (3) Analog monitor block diagram 5 - 14 Note. As of November, 2003 Page Page Page Page 6 - 1 6. GENERAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usag e Page Page Page 6 - 6 Page Page Page Page Page Page 7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 2 0 2 3 Parameter No. 18 Notch frequency selection Page Page 8. INSPECTION 8. INSPECTION Page 9 - 1 9. TROUBLESHOOTING Page 9 - 3 9 - 4 9 - 5 9 - 6 9 - 7 9 - 8 10 - 1 10. OUTLINE DIMENSION DRAWINGS (0.79) 20 10.1 Servo amplifiers (1) MR-J2S-10B to MR-J2S-60B MR-J2S-10B1 to MR-J2S-40B1 168 (6.61) 10 - 2 (2) MR-J2S-70B MR-J2S-100B 168(6.61) 20 (0.79) 156(6.14) 10 - 3 (3) MR-J2S-200B MR-J2S-350B 168(6.61) 156(6.14) 6 10 - 4 (4) MR-J2S-500B 10 - 5 (5) MR-J2S-700B 10 - 6 (6) MR-J2S-11KB 15KB 10 - 7 (7) MR-J2S-22KB 10 - 8 10.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type (b) Threaded type 10 - 9 (c) Insulation displacement type Note: PCR-S20F and PCR-LS20LA1W are n ot options and are to be supplied by the c ustomer. (2) Bus cable connector (a) Honda Tsushin Industry PCR type PCR-LS20LA1 10 - 10 (b) Honda Tsushin Industry HDR type Note: Not available from us and to be sup plied by the customer. (3) Communication cable connector <Japan Aviation Electronics Industry> 11. CHARACTERISTICS Page 11 - 3 Page Page 11 - 6 b. HC-MFS series c. HC-SFS1000r/min series d. HC-SFS2000r/min series e. HC-SFS3000r/m in series f. HC-RFS series g. HC-UFS 2000r/min series h. HC-UFS3000r/min series i. HA-LFS series Fig. 11.8 Dynamic brake time constant 2 11 - 7 Flexing life [times] Page 12. OPTIONS AND AUXILIARY EQUIPMENT CAUTION 12 - 2 Generated torque Unbalance torque Servo motor speed 2) 3) Page Page Page Page Page 12 - 8 (5) Outline drawing (a) MR-RB032 MR-RB12 12 (0.47) 6 (0.23) 156 (6.14) 168 (6.61) 144 (5.67) 12 - 9 (c) MR-RB50 MR-RB51 (d) MR-RB65 MR-RB66 MR-RB67 (e) GRZG400-2 GRZG400-1 GRZG400-0.8 (standard accessories) Page 12 - 11 (3) Outside dimensions (a) Brake unit (FR-BU) [Unit : mm(in)] 12 - 12 (b) Resistor unit (FR-BR) [Unit : mm(in)] Power regeneration converter Nominal Regenerative Power (kW) 12 - 13 12 - 14 (3) Outside dimensions of the power r egeneration converters [Unit : mm(in)] 12 - 15 12 - 16 Page 12 - 18 10) Bus cable :MR-J2HBUS M 12) Connector set:MR-J2CN1 12 - 19 12 - 20 12 - 21 CAUTION 12 - 23 12 - 24 For the pin assignment on the servo amplifier side, refer to Section 3.2.1. 12 - 25 Page CAUTION 12 - 28 (b) MR-J2HBUS M Model:MR-J2HBUS M 12 - 29 1 (3.28) Connection of Battery Unit 1 (3.28) Model:Q172J2BCBL M- 12 - 30 12 - 31 12.1.6 Maintenance junction card (MR-J2CN3TM) (2) Connection diagram (3) Outline drawing 75(2.95) Page 12 - 33 (b) Configuration diagram Page 12 - 35 (2) Connection diagram MC NFB FR-CVL FR-CV Total of servo amplifier capacities [kW] Wires[mm 1 or less 2 23.5 55.5 78 11 14 15 22 22 50 Page 12 - 37 (5) Specifications Page 12 - 39 (3) Fitting method 12 - 40 (b) MR-JACN22K (MR-J2S-22KB) Page 12 - 42 Table 12.1 Recommended wires Table 12.2 Recommended crimping terminals 12 - 43 12 - 44 Note: For the 1-phase 230V power supply, Connect the power supp ly to L1, L2 and leave L3 open. 12 - 45 12.2.4 Power factor improving DC reactors The input power factor is improved to be about 95%. Page Page 12 - 48 13 1 (0.51 0.04) 30 1 (1.18 0.04) Page 12 - 50 Outline drawing 12 - 51 65 (2.56) 3 (0.12) 31.5 (1.24) 35 (1.38) 12 - 52 Leakage current Page 12 - 54 (3) Outline drawing 12 - 55 HF3040A-TM HF3050A-TM HF3060A-TMA HF3080A-TMA HF3100A-TMA Page 13. ABSOLUTE POSITION DETECTION SYSTEM CAUTION Page WARNING Page App - 1 App endix App. Combination of servo amplifier and servo motor Page REVISIONS *The manual number is given on the bottom left of the back cover.