Mitsubishi Electric MR-J4W2-0303B6 Instruction Manual page 161

6. NORMAL GAIN ADJUSTMENT
(a) User command method
It is recommended to input commands meeting the following conditions to the servo amplifier. If one-
touch tuning is executed while commands which do not meet the conditions are inputted to the servo
amplifier, the one-touch tuning error may occur.
Servo motor
speed
Fig. 6.1 Recommended command for one-touch tuning in the user command method
Item
Set 100 pulses or more in encoder unit. Setting less than 100 pulses will cause the one-touch tuning error
Travel distance
"C004".
Servo motor speed Set 150 r/min (mm/s) or higher. Setting less than 150 r/min (mm/s) may cause the one-touch tuning error "C005".
Set the time to reach 2000 r/min (mm/s) to 5 s or less.
Acceleration time
Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10%
constant
or more of the rated torque.
Deceleration time
The estimation accuracy of the load to motor inertia ratio is more improved as the acceleration/deceleration
constant
torque is larger, and the one-touch tuning result will be closer to the optimum value.
Dwell time Set 200 ms or more. Setting a smaller value may cause the one-touch tuning error "C004".
One cycle time Set 30 s or less. Setting over 30 s will cause the one-touch tuning error "C004".
One cycle time
Forward
rotation
0 r/min
Reverse
rotation
Acceleration
time constant
6 - 8
Travel distance
Dwell time
Deceleration
time constant
Description