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Mitsubishi Electric MELSERVO J5 Series User Manual

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Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Adjustment)
-MR-J5-_G_
-MR-J5W_-_G
-MR-J5-_A_

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Table of Contents

   Related Manuals for Mitsubishi Electric MELSERVO J5 Series

   Summary of Contents for Mitsubishi Electric MELSERVO J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Adjustment) -MR-J5-_G_ -MR-J5W_-_G -MR-J5-_A_...
  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS (Please read the instructions carefully before using the equipment.) To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.
  • Page 5: About The Manual

    ABOUT THE MANUAL This manual covers the following servo amplifiers. • MR-J5-_G_/MR-J5W_-_G/MR-J5-_A_ In this manual, the servo amplifier names are abbreviated as shown below. Symbol Servo amplifier MR-J5-_G_ [WG] MR-J5W_-_G MR-J5-_A_ U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S.
  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 Adjustment procedure of position mode ............47 Load to motor inertia ratio monitor mode.
  • Page 8 Gain switching by servo motor speed ............78 Gain switching by signals (CDP/C_CDP/CDP2/C_CDP2) .
  • Page 9: Chapter 1 Adjustment Function Types

    ADJUSTMENT FUNCTION TYPES A servo amplifier is equipped with various servo parameters that can be used to adjust operation status. To maximize the machine's performance , these servo parameters are required to be set in accordance with the machine's characteristic. The gain adjustment is set to "Auto tuning mode 1"...
  • Page 10: Adjustment Functions To Suppress Vibration And To Obtain A High Level Of Responsiveness

    Adjustment functions to suppress vibration and to obtain a high level of responsiveness Adjustment function Outline Reference Page 16 One- One-touch tuning Use this function to reduce settling time within the designated In-position range. touch tuning Page 50 Machine resonance Use this function if machine resonance occurs when the response level in the auto tuning and manual suppression filter mode is increased.
  • Page 11: Adjustment Functions Available In Combination With Mr Configurator2

    Adjustment functions available in combination with MR Configurator2 By combining with MR Configurator2 and a servo amplifier, the following adjustment functions can be used additionally. Adjustment function Outline Reference  Machine analyzer Use this function to accurately adjust the mechanical resonance suppression filter, when the characteristic of mechanical resonance is known.
  • Page 12: Chapter 2 Adjustment Procedure

    ADJUSTMENT PROCEDURE Adjust the servo amplifier with the following procedure. Start Is the system for Interpolation of 2 or more axes? 2 gain adjustment mode 1 Quick tuning Operation Is the adjustment satisfactory? Load to motor inertia ratio Adjustment for large load fluctuation monitor mode Is load fluctuation large during operation?
  • Page 13 Instructions To start the one-touch tuning, push the "Start" button for one-touch tuning on the engineering tool during the positioning operation. Use this adjustment if the conditions for the quick tuning are not fulfilled. A higher response level than that of the quick tuning can be obtained, enabling a quicker positioning.
  • Page 14: Chapter 3 Adjustment Method

    ADJUSTMENT METHOD Quick tuning To use quick tuning, set [Pr. PA08.0 Gain adjustment mode selection] to "5". When the SON is on, the servo amplifier adjusts the gain. The characteristic of quick tuning is shown as follows: • Effective when to reduce the overshoot rather than to shorten the settling time because of the ability to reduce the overshoot regardless of the machine type or the load size •...
  • Page 15: Setting Method For Quick Tuning

    Setting method for quick tuning How to use quick tuning Servo parameter Name Description PA08.0 Gain adjustment mode selection Select the gain adjustment mode. The initial value is "1". 0: 2 gain adjustment mode 1 (interpolation mode) 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2...
  • Page 16 ■When executing quick tuning at every servo-on Switch to the servo-off status. Set "5" (quick tuning) to [Pr. PA08.0]. Set "1" (at every servo-on) to [Pr. PA08.5]. Check the load to motor inertia ratio. • When the load to motor inertia ratio is 30 times or less Set "0"...
  • Page 17: Operation Of Quick Tuning

    Operation of quick tuning When quick tuning is started, the servo amplifier applies vibration torque instantly, and adjusts each gain and the machine resonance suppression filter by using the response from that excitation. Vibration torque is applied by 60 % at the maximum of the rated torque.
  • Page 18: One-touch Tuning

    One-touch tuning By turning on the one-touch tuning during servo motor operation, the one-touch tuning performs an adjustment in accordance with the machine characteristic. The one-touch tuning has two methods: the user command method and the amplifier command method. User command method The user command method performs the one-touch tuning by inputting commands from outside the servo amplifier.
  • Page 19: Instructions On One-touch Tuning

    Instructions on one-touch tuning Instructions on amplifier command method • Once one-touch tuning is performed, control by commands from a controller will not be available. To enable control from the controller again, reset the controller, cycle the power of the servo amplifier, or reset software. •...
  • Page 20 ■Overshoot permissible level setting Set the permitted overshoot level for the one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level]. The one-touch tuning adjusts the settling time to the shortest within the range of the overshoot permissible level. Therefore, when the value set in [Pr.
  • Page 21 ■Operation Inputting commands to the servo amplifier that satisfy the following conditions is recommended. If the one-touch tuning is performed with commands that do not satisfy the condition are inputted to the servo amplifier, a one-touch tuning error may occur. One cycle time Forward rotation Travel distance...
  • Page 22 Refer to the following table for selecting a response mode. Response mode Responsiveness Machine characteristic Low mode Basic mode High mode Guidelines for corresponding mode and machinery Low response Arm robot General machine tool Conveyor Precision working machine Inserter Mounter Bonder High response ■One-touch tuning execution...
  • Page 23 Procedure of one-touch tuning in the amplifier command method with MR Configurator2 Perform the one-touch tuning with the following procedure. Start Moving to tuning start position Move the moving part to the center of the movable range. Overshoot permissible level setting Set the permitted overshoot level for the one-touch tuning in [Pr.
  • Page 24 ■Mode selection and permissible travel distance input Select "Amplifier command method" in the one-touch tuning window of MR Configurator2. Input permissible travel distance of the amplifier command method. For the fully closed loop control mode, input permissible travel distance in the load-side resolution unit.
  • Page 25 ■One-touch tuning execution Clicking "Start" after selecting a response mode starts the one-touch tuning in the amplifier command method. Page 19 Command method and response mode selection In servo-off status, clicking "Start" for the one-touch tuning in the amplifier command method, servo-on is automatically enabled and the one-touch tuning starts.
  • Page 26 Procedure of one-touch tuning via controller [G] [WG] Perform the one-touch tuning with the following procedure. Start Overshoot permissible level setting Set the in-position range for one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level]. Operation Rotate a servo motor by a controller. The one-touch tuning via a controller cannot be performed during a servo motor stop. Response mode setting, one-touch tuning execution To perform the one-touch tuning, write the value of the response mode (High mode/Basic mode/Low mode) in [One-touch tuning mode (Obj.
  • Page 27 ■Object registration Register the following objects when performing the one-touch tuning. Index Object Name Data Access Default Description Type 2D50h One-touch tuning mode Setting "1", "2", or "3" starts one-touch tuning. After one-touch tuning is completed, the setting value automatically changes to "0".
  • Page 28 One touch adjustment procedure with push button [A] Perform the one-touch tuning with the following procedure. Start Overshoot permissible level setting Set the in-position range for one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level]. Operation Rotate a servo motor by a controller. In the user command method, the one-touch tuning cannot be performed during a servo motor stop.
  • Page 29 ■Response mode selection Select a response mode of the one-touch tuning from three modes with the "UP" button or the "DOWN" button. Refer to the following for guidelines of response mode. Page 19 Command method and response mode selection Response mode selection display Low mode : This mode is for a low-rigid system.
  • Page 30: Progress Display During One-touch Tuning

    Progress display during one-touch tuning On MR Configurator2 In servo-off status, clicking "Start" for one-touch tuning in the amplifier command method, servo-on is automatically enabled and the one-touch tuning starts. For the one-touch tuning in the amplifier command method, an optimum tuning command is generated inside the servo amplifier after servo-on.
  • Page 31: Servo Parameters Adjusted With One-touch Tuning

    On a controller [G] [WG] The progress of one-touch tuning can be checked with [One-touch tuning Status (Obj. 2D51h)] during one-touch tuning. When the progress reaches 100 %, the one-touch tuning is completed and [One-touch tuning mode (Obj. 2D50h)] switches to "0". With push buttons [A] The following are displayed during the one-touch tuning.
  • Page 32: One-touch Tuning Stop Method

    Servo parameter Symbol Name PB46 Machine resonance suppression filter 3 PB47 NHQ3 Notch shape selection 3 PB48 Machine resonance suppression filter 4 PB49 NHQ4 Notch shape selection 4 PB51 NHQ5 Notch shape selection 5 PB52 VRF21 Vibration suppression control 2 - Vibration frequency PB53 VRF22 Vibration suppression control 2 - Resonance frequency...
  • Page 33: One-touch Tuning Error

    One-touch tuning error On MR Configurator2 If a tuning error occurs during the tuning, the one-touch tuning is stopped. At this time, as the error code is displayed in the error code status, check the cause of the tuning error. Stop the servo motor before executing one-touch tuning again. In addition, perform the one-touch tuning after the moving part is returned to the tuning start position.
  • Page 34 Display Name Error description Handling example C_07 Amplifier command The one-touch tuning (amplifier command) was Execute one-touch tuning in the amplifier command method generation error performed when the permissible travel distance was after setting a permissible travel distance to be 100 [pulse] or set to 100 [pulse] or less in the encoder pulse unit, or more in the encoder pulse unit, or setting the distance so that the servo motor speed was set to less than 50 [r/min]...
  • Page 35 On a controller [G] [WG] If a tuning error occurs during tuning, one-touch tuning is stopped. At this time, an error code is sent to [One-touch tuning Error Code (Obj. 2D54h)]. Check the cause of the tuning error. When performing the one-touch tuning again, stop the servo motor once.
  • Page 36: Initializing One-touch Tuning

    Initializing one-touch tuning Servo parameters to be initialized The following servo parameters will be initialized to the factory setting in initialization of one-touch tuning. In addition, [Pr. PA08.0 Gain adjustment mode selection] will be automatically changed to "1" (Auto tuning mode 1). Servo parameter Symbol Name...
  • Page 37 On MR Configurator2 Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the servo parameter to the initial value. Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to return the servo parameter to the value before clicking the start button.
  • Page 38 With push buttons [A] In the clear mode, the one-touch tuning result can be rewritten to the factory setting of servo parameter. In the back mode, the one-touch tuning result can be returned to the value before one-touch tuning. The setting value of the returned servo parameter is stored in the non-volatile memory.
  • Page 39: Auto Tuning Mode 1

    Auto tuning mode 1 The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio) in real time and automatically sets the optimum gain according to that value. This function allows easier gain adjustment of the servo amplifier.
  • Page 40: Adjustment Procedure By Auto Tuning Mode 1

    Adjustment procedure by auto tuning mode 1 The adjustment procedure is as follows. Auto tuning adjustment Repeated acceleration/deceleration Is the estimated value of load to motor inertia ratio stable? Are auto tuning conditions satisfied? Satisfied (If the conditions are not satisfied, it is difficult to estimate the load to motor inertia ratio)
  • Page 41: Responsiveness Setting In Auto Tuning Mode 1

    Responsiveness setting in auto tuning mode 1 Set the response level for the entire servo system by [Pr. PA09]. As the responsiveness setting increases, the trackability to the command improves and the settling time becomes shorter, though vibration is likely to occur. Therefore, set a value to obtain the desired response within the vibration-free range.
  • Page 42 [Pr. PA09] Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] response 10.0 11.3 12.7 14.3 16.1 18.1 20.4 23.0 25.9 29.2 32.9 37.0 41.7 47.0 52.9 59.6 Middle response 67.1 75.6 85.2 95.9 108.0 121.7 137.1 154.4 173.9 195.9 220.6...
  • Page 43: Operation Of Auto Tuning Mode 1

    Operation of auto tuning mode 1 The block diagram of the auto tuning mode 1 is shown below. Load moment of inertia Automatic setting Encoder Command Control gain Current PG1, PG2, control VG2, VIC Servo motor Current feedback Position/speed Real-time auto tuning section feedback Load to motor Gain table...
  • Page 44: Responsiveness Setting In Auto Tuning Mode 2

    Responsiveness setting in auto tuning mode 2 Refer to the following. Page 39 Responsiveness setting in auto tuning mode 1 Operation of auto tuning mode 2 The block diagram of the auto tuning mode 2 is shown below. Load moment Automatic setting of inertia Encoder...
  • Page 45: Gain Adjustment Mode 1

    2 gain adjustment mode 1 Use the 2 gain adjustment mode to match the position control gains of each axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model control gain that determines command trackability.
  • Page 46: Operation Of 2 Gain Adjustment Mode 1

    Operation of 2 gain adjustment mode 1 The block diagram of the 2 gain adjustment mode 1 is the same as that of the auto tuning mode 1. Servo parameters adjusted automatically differ depending on the mode. The following servo parameters are adjusted automatically with auto tuning in the 2 gain adjustment mode 1. Servo parameter Symbol Name...
  • Page 47: Manual Mode

    Manual mode When the auto tuning result is not satisfactory, manual adjustment with all of the gain can be performed. Precautions • If machine resonance occurs, [Pr. PB01.0 Filter tuning mode selection] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] can be used to suppress machine resonance. Refer to the following. Page 50 Machine resonance suppression filter Page 53 Adaptive filter II Adjustment procedure of velocity mode...
  • Page 48 Explanation on servo parameter Effect when increasing the responsiveness Operating status when increase in responsiveness is excessive [Pr. PB10 Speed integral compensation] Occurrence of vibration and This servo parameter determines the time unusual noise (low frequency) Command Command constant for proportional integral control of speed control loop.
  • Page 49: Adjustment Procedure Of Position Mode

    ■[Pr. PB10 Speed integral compensation] As a guide, this servo parameter can be calculated with the following formula. Speed integral compensation setting value [ms] 2000 to 3000 ≥ Speed control gain/(1 + Load to motor inertia ratio) If the setting value is less than the calculated value, vibration may occur. Adjustment procedure of position mode Servo parameter The following servo parameters are used for gain adjustment.
  • Page 50 Explanation on servo parameter Effect when increasing the responsiveness Operating status when increase in responsiveness is excessive [Pr. PB10 Speed integral compensation] This servo parameter determines the time constant for proportional integral control of Droop pulses Droop pulses speed control loop. Decreasing the value improves the responsiveness.
  • Page 51: Load To Motor Inertia Ratio Monitor Mode

    ■[Pr. PB08 Position control gain] As a guide, this servo parameter can be calculated with the following formula. Speed control gain Position control gain guideline = × (1 + Load to motor inertia ratio) ■[Pr. PB09 Speed control gain] The actual response frequency of the speed loop can be calculated with the following formula. Speed control gain Speed loop response frequency [Hz] = (1 + Load to motor inertia ratio) ×...
  • Page 52: Chapter 4 Vibration Suppression Function

    VIBRATION SUPPRESSION FUNCTION Increasing the servo system response level in a mechanical system that has a unique resonance point may cause resonance (vibration or unusual noise) in the mechanical system at that resonance frequency. By using various type of filters, resonance of the mechanical system can be suppressed, improving the responsiveness of the servo system.
  • Page 53: Machine Resonance Suppression Filter Restrictions

    Machine resonance suppression filter restrictions • Enabling the machine resonance suppression filter 4 disables the shaft resonance suppression filter. Using the shaft resonance suppression filter is recommended because it has been adjusted optimally in accordance with the usage situation. The shaft resonance suppression filter is enabled as a default. Machine resonance suppression filter precautions •...
  • Page 54: Operation Of Machine Resonance Suppression Filter

    Operation of machine resonance suppression filter The machine resonance suppression filter is a filter function (notch filter) that decreases the gain of the specific frequency to suppress the mechanical system resonance. The frequency (notch frequency), the depth, and size at which the gain is decreased can be set.
  • Page 55: Adaptive Filter Ii

    Adaptive filter II Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine resonance for a certain period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency and depth) are set automatically, there is no need to be aware of the resonance characteristics of the mechanical system.
  • Page 56: How To Set Adaptive Filter Ii

    How to set adaptive filter II Select the filter tuning setting method of [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. • [Pr. PB01.0 Filter tuning mode selection] Setting Filter tuning mode selection Automatically set servo parameter value Disabled  Automatic setting PB13/PB14 ...
  • Page 57: Shaft Resonance Suppression Filter

    Shaft resonance suppression filter When a load is mounted to the servo motor shaft, resonance by shaft torsion during servo motor drive generates high frequency mechanical vibration. The shaft resonance suppression filter suppresses the vibration. Selecting "Automatic setting" sets the filter automatically based on the servo motor used and the load to motor inertia ratio. If the resonance frequency is high, disable the setting to increase the responsiveness of the servo amplifier.
  • Page 58 Setting value Frequency [Hz] Disable Disable Disable Disable Disable Disable Disable Disable 4500 4000 3600 3272 3000 2769 2571 2400 2250 2117 2000 1894 1800 1714 1636 1565 1500 1440 1384 1333 1285 1241 1200 1161 1125 1090 1058 1028 1000 4 VIBRATION SUPPRESSION FUNCTION 4.4 Shaft resonance suppression filter...
  • Page 59 Setting value Frequency [Hz] 4 VIBRATION SUPPRESSION FUNCTION 4.4 Shaft resonance suppression filter...
  • Page 60 Setting value Frequency [Hz] 4 VIBRATION SUPPRESSION FUNCTION 4.4 Shaft resonance suppression filter...
  • Page 61: Low-pass Filter

    Low-pass filter When a ball screw or the like is used, resonance of a high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter has been enabled for a torque command as the initial value. Use automatic setting as normal setup.
  • Page 62: Advanced Vibration Suppression Control Ii

    Advanced vibration suppression control II Use the vibration suppression control to further suppress the load-side vibration of relatively low frequency of around 100 Hz or less, such as work-side vibration and shaking base. Settling time can be shortened by suppressing the residual vibration. The residual vibration is suppressed by adjusting the movement of the servo motor side inside the servo amplifier and performing positioning.
  • Page 63: Advanced Vibration Suppression Control Restrictions

    Advanced vibration suppression control restrictions • This setting is enabled when [Pr. PA08.0 Gain adjustment mode selection] is set to "2" (Auto tuning mode 2), "3" (Manual mode), or "4" (2 gain adjustment mode 2). • When using vibration suppression control 2, it is necessary to set [Pr. PA24.0 Vibration suppression mode] to "1" (3 inertia mode).
  • Page 64: Advanced Vibration Suppression Control Precautions

    Advanced vibration suppression control precautions • When changing the servo parameters related to the vibration suppression control, stop the servo motor first. Otherwise, it will cause an unexpected movement of the servo motor or the other part in the system. •...
  • Page 65 Vibration suppression control tuning Operation Is the performance satisfactory? Increase the response level. Has work-side/load-side vibration increased? Stop operation. Execute or re-execute vibration suppression control tuning. (Set "1" (automatic setting) to [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection].) Resume operation.
  • Page 66 The servo parameters are set using the following procedure. Select "2" (manual setting) in [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] or "2" (manual setting) in [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection]. Set "Vibration suppression control for vibration suppression control" and "Resonance frequency for vibration suppression control"...
  • Page 67 Set "Vibration suppression control - Vibration frequency damping setting" and "Vibration suppression control - Resonance frequency damping setting". Regular adjustment of the damping setting is not required. Decrease the damping setting to (1) further enhance the vibration suppression effect, or (2) to measure the droop pulses when the vibration suppression control is invalid, and sustain the amplitude of the droop pulses at settling time.
  • Page 68: Command Notch Filter

    Command notch filter A command notch filter is a filter function that lowers a gain of the specific frequency contained in a position command to suppress load-side vibration, such as work-side vibration and a base shake. The frequency to decrease the gain and the notch depth can be set with this function.
  • Page 69: Command Notch Filter Setting Method

    Command notch filter setting method Set [Pr. PB45 Command notch filter] as shown below. For the setting frequency of the command notch filter, set the closest value to the load-side vibration frequency [Hz]. Refer to the following for the vibration frequency check method of the load side.
  • Page 70 Setting value Frequency [Hz] 31.3 29.4 27.8 26.3 25.0 23.8 22.7 21.7 20.8 20.0 19.2 18.5 17.9 17.2 16.7 15.6 14.7 13.9 13.2 12.5 11.9 11.4 10.9 10.4 4.31 4.17 3.91 3.68 3.47 3.29 3.13 2.98 2.84 2.72 4 VIBRATION SUPPRESSION FUNCTION 4.8 Command notch filter...
  • Page 71 Setting value Frequency [Hz] 2.60 2.50 2.40 2.31 2.23 2.08 1.95 1.84 1.74 1.64 1.56 1.49 1.42 1.36 1.30 1.25 1.20 1.16 1.12 • [Pr. PB45.2 Notch depth selection] Setting value Depth [dB] -40.0 -24.1 -18.1 -14.5 -12.0 -10.1 -8.5 -7.2 -6.0 -5.0...
  • Page 72: Vibration Tough Drive

    Vibration tough drive Vibration tough drive function is a function to instantaneously reset the machine resonance suppression filter, and to prevent vibration when machine resonance occurs due to the oscillation during adjustment and aging of the machine. By using this function, the equipment continues to operate normally even when an alarm occurs.
  • Page 73: Operation Of Vibration Tough Drive

    Operation of vibration tough drive The function block diagram of the vibration tough drive function is indicated. When the oscillation level exceeds the level set in [Pr. PF23 Vibration tough drive oscillation detection level], set [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] depending on the detected machine resonance frequency and the machine resonance suppression filter being used.
  • Page 74 The timing chart of the vibration tough drive is shown as follows: [Pr. PF23 Vibration tough drive - Vibrating detection level] Torque The machine resonance is detected and the filter is automatically configured. (Malfunction) (Warning) MTTR (During tough drive) is not turned on in the vibration tough drive function. MTTR (During tough drive) 4 VIBRATION SUPPRESSION FUNCTION...
  • Page 75: Chapter 5 Gain Switching Function

    GAIN SWITCHING FUNCTION This function enables the gain switching. The gains can be switched depending on whether the motor is in rotation/stop, or on the command directions. Using a control command from a controller can also switch the gains during operation. The gain switching is used when: •...
  • Page 76: Precautions On Gain Switching [a]

    Precautions on gain switching [A] • If the gain difference is large at gain switching, and the value in [Pr. PB28 Gain switching time constant] is small, the machine may operate unexpectedly at gain switching. In this case, increase the value in [Pr. PB28 Gain switching time constant].
  • Page 77 [Pr. PB26 Gain switching function] Set the conditions for gain switching. Select the switching condition from the first to fifth digits. Servo parameter Description PB26.0 Gain switching selection 0: Disabled 1: Signal (CDP/C_CDP) 2: Command frequency 3: Droop pulses 4: Servo motor speed 5: Command direction PB26.1 Gain switching condition selection...
  • Page 78: Servo Parameters That Are Changeable With The Gain Switching

    [Pr. PB28 Gain switching time constant], [Pr. PB66 Gain switching 2 time constant] The primary delay filter can be set to each gain in gain switching. If the gain difference is large in gain switching, use these parameters for such as suppressing shock given to the machine. Servo parameters that are changeable with the gain switching Control gain Before gain switching...
  • Page 79: Related Objects [g] [wg]

    Object Name Data Type Access Default Description 2D01h Control DI1 Objects defined by Mitsubishi Electric Bit 4: C_CDP (Gain switching) 2D05h Control DI5 Objects defined by Mitsubishi Electric Bit 4: C_CDP2 (Gain switching 2) 2D11h Status DO1 Objects defined by Mitsubishi Electric...
  • Page 80: Examples Of Gain Switching Operation

    Examples of gain switching operation Gain switching by servo motor speed The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "4" (servo motor speed) and [Pr. PB26.4 Gain switching 2 selection] is set to "2" (the same condition as [Pr. PB26.0]). When [Pr.
  • Page 81 ■When [Pr. PB65] is set to "0" When [Pr. PB65] is set to "0", the gain does not switch to "Gain after gain switching 2". When the absolute value of the servo motor speed exceeds the value of [Pr. PB27], the gain switches. Servo motor 0 r/min speed...
  • Page 82 When [Pr. PB26.1 Gain switching condition selection] is set to "1" (Enables the gain after gain switching even when the value set in the conditions for gain switching is not reached) Depending on the values in [Pr. PB27 Gain switching condition] and [Pr. PB65 Gain switching 2 condition], the gain will switch as follows.
  • Page 83 ■When [Pr. PB65] is set to "0" When [Pr. PB65] is set to "0", the gain does not switch to "Gain after gain switching 2". When the absolute value of the servo motor speed is less than the value of [Pr. PB27], the gain switches to "Gain after gain switching". Servo motor 0 r/min speed...
  • Page 84: Gain Switching By Signals (cdp/c_cdp/cdp2/c_cdp2)

    Gain switching by signals (CDP/C_CDP/CDP2/C_CDP2) The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "1" (Signal (CDP/C_CDP)). Gain switching by control commands from the controller [G] [WG] The following shows the timing chart. C_CDP2 C_CDP Gain after gain switching 2 Gain after gain switching 2 63.2 %...
  • Page 85 Gain switching by control commands or input devices [A] CDP2 Gain after gain switching 2 Gain after gain switching 2 63.2 % Gain after gain switching CDT2 63.2 % Gain before gain 63.2 % Gain before gain switching switching Gain switching Load to motor inertia ratio/load to [Pr.
  • Page 86: Gain Switching By Command Directions

    Gain switching by command directions The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "5" (command direction) and [Pr. PB26.4 Gain switching 2 selection] is set to "2" (the same condition as [Pr. PB26.0]). The gain switches depending on the command direction of a command pulse frequency and a speed command. A positive direction for the command direction is CCW regardless of the setting in [Pr.
  • Page 87 When gain switching 2 during a stop is disabled The timing chart of gain switching when the "Gain switching 2 during a stop" is disabled is shown as follows: In the velocity mode, replace the command pulse frequency with the speed command. Command pulse 0 kpulse/s frequency...
  • Page 88: Gain Switching By Servo Motor Speed And Gain Switching 2 (c_cdp2) [g] [wg]

    Gain switching by servo motor speed and gain switching 2 (C_CDP2) [G] [WG] The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "4" (servo motor speed) and [Pr. PB26.4 Gain switching 2 selection] is set to "1" (signal (CDP2/C_CDP2)). In this case, the setting of [Pr.
  • Page 89: Selected

    When "Switching time constant disabled" of "Gain switching time constant disabling condition selection" is selected The time constant is disabled at gain switching. The time constant becomes enabled at gain return. The following illustrates the example description where [Pr. PB26.0 Gain switching selection] is set to "4" (Servo motor speed).
  • Page 90: Chapter 6 Speed Feed Forward Control Function

    SPEED FEED FORWARD CONTROL FUNCTION This function calculates a speed command required to drive the servo motor based on the position command in the position mode, and preset the calculated speed command to decrease the droop pulses at a constant speed. This function is recommended for increasing the path accuracy and shortening the settling time.
  • Page 91 MEMO 6 SPEED FEED FORWARD CONTROL FUNCTION 6.1 Method for setting the speed feed forward...
  • Page 92: Chapter 7 Overshoot Suppression Control

    OVERSHOOT SUPPRESSION CONTROL The overshoot suppression control is a function that decreases the overshoot in the positioning to a machine with high friction. Use this function when the overshoot does not decrease even after adjusting [Pr. PB07 Model control gain]. Restrictions on the overshoot suppression control •...
  • Page 93 MEMO 7 OVERSHOOT SUPPRESSION CONTROL 7.2 Settings of the overshoot suppression control...
  • Page 94: Chapter 8 Slight Vibration Suppression Control

    SLIGHT VIBRATION SUPPRESSION CONTROL This function suppresses the variation of the pulses generated at each servo motor stop. Restrictions on the slight vibration suppression control • The slight vibration suppression control is enabled in the position mode. • The slight vibration suppression control is enabled when [Pr. PA08.0 Gain adjustment mode] is set to "3" (manual mode). Settings of the slight vibration suppression control When using the slight vibration suppression control, set the following servo parameters.
  • Page 95 MEMO 8 SLIGHT VIBRATION SUPPRESSION CONTROL 8.3 Operation of slight vibration suppression control...
  • Page 96: Chapter 9 Unbalanced Torque Offset

    UNBALANCED TORQUE OFFSET For a vertical axis, unbalanced torque occurs due to the gravity. Therefore, the vertical axis may fall slightly, immediately after the servo-on. To prevent the falling of the vertical axis, the unbalanced torque of a machine can be set as an unbalanced torque offset to cancel the unbalanced torque.
  • Page 97 MEMO 9 UNBALANCED TORQUE OFFSET 9.1 Setting unbalanced torque offset...
  • Page 98: Chapter 10 Model Adaptive Control

    MODEL ADAPTIVE CONTROL Achieves a high response and stable control according the ideal model. The two-degrees-of-freedom model adaptive control enables the response to be set to the command and to the disturbance separately. This function is enabled by default. Refer to the following for disabling this function.
  • Page 99: How To Disable Model Adaptive Control

    How to disable model adaptive control When disabling model adaptive control, set [Pr. PB25.0 Model adaptive control selection] to "2" (Disabled (PID control)). Servo parameter Description PB25.0 Model adaptive control selection 0: Enabled (model adaptive control) 2: Disabled (PID control) 10 MODEL ADAPTIVE CONTROL 10.2 Disabling model adaptive control...
  • Page 100: Chapter 11 Path Control Function

    PATH CONTROL FUNCTION For machines that require a high path accuracy, such as processors, the following functions enables the path accuracy to be improved. 11.1 Path tracking model adaptive control Model adaptive control reduces the settling time in positioning control, and path tracking model adaptive control reduces the overshoot and improves path accuracy.
  • Page 101: Operation Of Path Tracking Model Adaptive Control

    Operation of path tracking model adaptive control In path tracking model adaptive control, changing the characteristics of model adaptive control enables the overshoot to be suppressed when the servo motor stops. When [Pr. PA24.0 Vibration suppression mode selection] is set to any of "0" (Standard mode), "1"...
  • Page 102: Method For The Lost Motion Compensation Adjustment

    Lost motion compensation timing ([Pr. PE49]) The delay time of the lost motion compensation start timing is set with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the occurrence timing of the protrusion. Lost motion compensation non-sensitive band ([Pr.
  • Page 103 Adjusting the lost motion compensation timing When the machine has low rigidity, the speed loop gain is set lower than the standard setting value, or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant change points. In this case, you can suppress the quadrant projections by delaying the lost motion compensation with [Pr.
  • Page 104: Revisions

    First edition This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 105: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 106: Trademarks

    TRADEMARKS MELSERVO is trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030306ENG-A...
  • Page 108 SH(NA)-030306ENG-A(1907)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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