Mitsubishi Electric MR-JE-_A Instruction Manual page 197

6. NORMAL GAIN ADJUSTMENT
2) Amplifier command method
Input a permissible travel distance. Input it in the servo motor-side resolution unit. In the amplifier
command method, the servo motor will be operated in a range between "current value ±
permissible travel distance". Input the permissible travel distance as large as possible within a
range that the movable part does not collide against the machine. Inputting a small permissible
travel distance decreases the possibility that the moving part will collide against the machine.
However, the estimation accuracy of the load to motor inertia ratio may be lower, resulting in
improper tuning.
Also, executing the one-touch tuning in the amplifier command method will generate a command
for the following optimum tuning inside the servo amplifier to start the tuning.
Servo motor
speed
Note. It will be automatically generated in the servo amplifier.
Item
An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible
Travel distance
travel distance with MR Configurator2.
Servo motor speed A speed not exceeding 1/2 of the rated speed will be automatically set.
Acceleration time
constant
An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the
rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.
Deceleration time
constant
Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.
Servo motor
speed (Note)
Forward
rotation
0 r/min
Reverse
rotation
Acceleration
time constant
(Note)
Fig. 6.2 Command generated by one-touch tuning in the amplifier command method
Travel distance (Note)
Dwell time (Note)
Deceleration
time constant
(Note)
Description
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