Mitsubishi Electric MR-J4W2-0303B6 Instruction Manual page 162

6. NORMAL GAIN ADJUSTMENT
(b) Amplifier command method
Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop
control mode, and in the servo motor-side resolution unit for other control modes. 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.
A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be
Servo motor speed
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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