Mitsubishi Electric MRJET v3 User's Manual
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MR-JET User's Manual (Adjustment)
-MR-JET-_G -MR-JET-_G-N1
Mitsubishi Electric AC Servo System
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. In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions. Please follow the instructions of both levels because they are important to personnel safety. Forbidden actions and required actions are indicated by the following diagrammatic symbols.
In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other information are shown separately in the "POINT" area. After reading this manual, keep it accessible to the operator.
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .
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[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
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. To prevent an electric shock, mount the servo amplifier before wiring. To prevent an electric shock, connect the protective earth (PE) terminal of the servo amplifier to the
protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground. To prevent an electric shock, do not touch the conductive parts.
WARNING To prevent an electric shock, do not operate the switches with wet hands.
WARNING To prevent an electric shock, do not operate the switches with wet hands.
WARNING To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work. To prevent an electric shock, do not operate the switches with wet hands.
ABOUT THE MANUAL
e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: Searching for desired information in multiple manuals at the same time (manual cross searching) Jumping from a link in a manual to another manual for reference Browsing for hardware specifications by scrolling over the components shown in product illustrations Bookmarking frequently referenced information Copying sample programs to engineering tools
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. The manuals used differ depending on the interface of the servo amplifier. For details, refer to the User's Manual (Introduction).
This manual covers the following servo amplifiers. MR-JET-_G/MR-JET-_G-N1
Rotary Servo Motor Linear Servo Motor
This manual is necessary primarily for installing, wiring, and using options.
The manual is necessary for operation of servo amplifiers.
The manual is necessary for adjustment of operation status.
The manual is necessary for using communication functions.
The manual is necessary for specifying the causes of alarms and warnings.
Partner Encoder
Function
Adjustment
Object Dictionary
Troubleshooting
Introduction
Hardware
Communication Function
Parameters It describes the parameters of the servo amplifier.
It describes the objects for the servo amplifier.
For the usage of each function, refer to this manual.
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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. customary unit Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [Nm] 141.6 [ozinch]
Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [C] 9/5 + 32 N [F]
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CONTENTS SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
CHAPTER 1 ADJUSTMENT FUNCTION TYPES 7 1.1 Adjustment functions available when using the servo amplifier alone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Functions to automatically adjust machine stability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Adjustment functions to suppress vibration and to obtain a high level of responsiveness . . . . . . . . . . . . . . . . . . 8 Manual adjustment functions to obtain the maximum performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Adjustment functions available in combination with MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CHAPTER 2 ADJUSTMENT PROCEDURE 10
CHAPTER 3 ADJUSTMENT METHOD 12 3.1 Quick tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Restrictions on quick tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Precautions on quick tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Setting method for quick tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Operation of quick tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Errors in quick tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 One-touch tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Restrictions on one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Instructions on one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 One-touch tuning procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Progress display during one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Servo parameters adjusted with one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 One-touch tuning stop method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 One-touch tuning error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Initializing one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.3 Auto tuning mode 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Restrictions on auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Precautions on auto tuning mode 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Adjustment procedure by auto tuning mode 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Responsiveness setting in auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Operation of auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.4 Auto tuning mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Precautions on auto tuning mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Adjustment procedure by auto tuning mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Responsiveness setting in auto tuning mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Operation of auto tuning mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.5 2 gain adjustment mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Adjustment procedure for 2 gain adjustment mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Operation of 2 gain adjustment mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.6 2 gain adjustment mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Adjustment procedure for 2 gain adjustment mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Operation of 2 gain adjustment mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.7 Manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Adjustment procedure for the velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
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Adjustment procedure for the position mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 3.8 Load to motor inertia ratio monitor mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Precautions on load to motor inertia ratio monitor mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Adjustment procedure for load to motor inertia ratio monitor mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Operation of load to motor inertia ratio monitor mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
CHAPTER 4 VIBRATION SUPPRESSION FUNCTION 46 4.1 Filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.2 Machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Machine resonance suppression filter restrictions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Machine resonance suppression filter precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Machine resonance suppression filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Operation of machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.3 Adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Restrictions on adaptive tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Precautions for adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 How to set adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Adaptive tuning procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.4 Shaft resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Shaft resonance suppression filter restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Shaft resonance suppression filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.5 Low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Low-pass filter setting method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Operation of low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.6 Robust filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Robust filter restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Robust filter setting method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.7 Advanced vibration suppression control II. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Advanced vibration suppression control restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Advanced vibration suppression control precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Advanced vibration suppression control setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Advanced vibration suppression control adjustment method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.8 Command notch filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Command notch filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.9 Vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Vibration tough drive restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Vibration tough drive precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Vibration tough drive setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Operation of vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.10 Command smoothing filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Restrictions on the command smoothing filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Instructions on the command smoothing filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 How to set the command smoothing filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
CHAPTER 5 GAIN SWITCHING FUNCTION 70 5.1 Restrictions on gain switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.2 Precautions on gain switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.3 Setting method for gain switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Servo parameters for setting the gain switching condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Servo parameters that are changeable with the gain switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
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Related objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.4 Examples of gain switching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Gain switching by servo motor speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Gain switching by signals (CDP/C_CDP/CDP2/C_CDP2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Gain switching by command directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Gain switching by servo motor speed and gain switching 2 (C_CDP2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81 When "Time constant disabled at switching" is selected in "Gain switching time constant - Disabling condition selection" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 When "Time constant disabled at return" is selected in "Gain switching time constant - Disabling condition selection" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
CHAPTER 6 SPEED FEED FORWARD CONTROL FUNCTION 83 6.1 Method for setting the speed feed forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
CHAPTER 7 OVERSHOOT SUPPRESSION CONTROL 85 7.1 Restrictions on overshoot suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 7.2 Settings of the overshoot suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
CHAPTER 8 SLIGHT VIBRATION SUPPRESSION CONTROL 87 8.1 Restrictions on the slight vibration suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 8.2 Settings of the slight vibration suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 8.3 Operation of slight vibration suppression control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
CHAPTER 9 UNBALANCED TORQUE OFFSET 89 9.1 Setting unbalanced torque offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Automatic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Manual setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
CHAPTER 10 MODEL ADAPTIVE CONTROL 91 10.1 Setting model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 10.2 Disabling model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Instructions on disabling model adaptive control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 How to disable model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
CHAPTER 11 PATH CONTROL FUNCTION 93 11.1 Path tracking model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Setting the path tracking model adaptive control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Operation of path tracking model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.2 Super trace control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Restrictions on super trace control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Instructions on super trace control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Setting the super trace control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Operation of super trace control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
11.3 Lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Restrictions on the lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Setting the lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Adjusting the lost motion compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
7
8
1 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 must be set in accordance with the machine's characteristics. When using the factory setting, the gain adjustment is set to "Auto tuning mode 1". Use each adjustment function to improve the responsiveness.
Precautions When using the torque mode, gain adjustment is not required. Before performing gain adjustment, check that your machine is not being operated at the maximum torque of the servo
motor. If operated in excess of the maximum torque, the machine may vibrate and operate unexpectedly. In addition, adjust gains taking into account that each machine is different. It is recommended to limit the torque generated by the servo motor during operation to 90 % or less of the maximum torque of the servo motor.
If the torque of the servo motor reaches the torque limit value, changing the gain will not change the response of the servo motor and gain adjustment cannot be performed accurately.
When using a linear servo motor, the terms below have the following meanings. Load to motor inertia ratio Load to motor mass ratio Torque Thrust
1.1 Adjustment functions available when using the servo amplifier alone
The following table shows the adjustment functions available when using the servo amplifier alone.
Functions to automatically adjust machine stability Adjustment function Outline Reference Quick tuning Use this function to prioritize reduction of the overshoot rather than shortening the settling time. An
adjustment is enabled without the positioning operation. Page 13 Quick tuning
Auto tuning mode 1 Use this function to adjust the machine while checking the response waveform when the load to motor inertia ratio of the device is unknown. Also use this function when the load to motor inertia ratio of a machine varies during operation.
Page 34 Auto tuning mode 1
Auto tuning mode 2 Use this function to adjust the machine while checking the response waveform when the load to motor inertia ratio of the device is known.
Page 38 Auto tuning mode 2
2 gain adjustment mode 1 Use this function for auto tuning a machine that requires path accuracy improvement, such as an XY table or a tandem mechanism, and to suppress inter-axis interference.
Page 40 2 gain adjustment mode 1
2 gain adjustment mode 2 Use this function to adjust settling time and overshoot amount after quick tuning or one-touch tuning was performed.
Page 41 2 gain adjustment mode 2
1 ADJUSTMENT FUNCTION TYPES 1.1 Adjustment functions available when using the servo amplifier alone
1
Manual adjustment functions to obtain the maximum performance
Adjustment function Outline Reference One-touch tuning Use this function to reduce settling time within the designated In-position range. Page 17 One-touch
tuning
Machine resonance suppression filter
Use this function if machine resonance occurs when the response level is increased in auto tuning or manual mode.
Page 48 Machine resonance suppression filter
Adaptive filter II Use this function to adjust the machine resonance suppression filter automatically. Page 51 Adaptive filter II
Robust filter When the load to motor inertia ratio of a machine is 10 times or more, use this filter to further increase the response level of the machine.
Page 57 Robust filter
Advanced vibration suppression control II
If the vibration is too large when settling during high-speed positioning, use this function to suppress the vibration and also reduce settling time.
Page 58 Advanced vibration suppression control II
Command notch filter If the vibration is too large when settling during high-speed positioning, use this function to easily suppress said vibration.
Page 64 Command notch filter
Command smoothing filter If the vibration is too large when settling during high-speed positioning, use this function to easily suppress said vibration. In addition, use this function to suppress vibrations in a wide range of frequencies.
Page 71 Command smoothing filter
Adjustment function Outline Reference Manual mode Use this function if the performance of quick tuning, one-touch tuning, and auto tuning is not
satisfactory. Page 42 Manual mode
Gain switching function Use this function for: 1) Reducing the settling time 2) Increasing the gain during servo-lock while suppressing vibration sound during rotation 3) When load fluctuation is too large
Page 72 GAIN SWITCHING FUNCTION
Speed feed forward Use this function to improve path accuracy by decreasing droop pulses at the constant speed. Page 85 SPEED FEED FORWARD CONTROL FUNCTION
Overshoot suppression function
Use this function to decrease the overshoot. Page 87 OVERSHOOT SUPPRESSION CONTROL
Slight vibration suppression function
Use this function to suppress vibration at a servo motor stop. Page 89 SLIGHT VIBRATION SUPPRESSION CONTROL
Unbalanced torque offset Use this function to prevent free fall of a vertical axis when turning on servo-on. Page 91 UNBALANCED TORQUE OFFSET
Path tracking model adaptive control
Use this function to suppress overshoot in path control. Page 95 Path tracking model adaptive control
Super trace control Use this function to improve the trackability at acceleration/deceleration in path control. Page 97 Super trace control
Lost motion compensation function
Use this function to suppress quadrant projections at speed switching in path control. Page 99 Lost motion compensation function
1 ADJUSTMENT FUNCTION TYPES 1.1 Adjustment functions available when using the servo amplifier alone 9
10
1.2 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
characteristics of the mechanical resonance are known. With the machine and servo motor connected, the characteristics of the mechanical system can be measured by giving a random vibration command from a personal computer to the servo amplifier and then measuring the responsiveness of the machine.
One-touch tuning using the amplifier command method
Use this function to prioritize time reduction of settling and gain adjustment over overshoot suppression. To generate an optimum command inside the servo amplifier and perform one-touch tuning, simply input a travel distance that avoids collision with the machine (a permissible travel distance) when driving the servo motor on MR Configurator2.
Page 17 One-touch tuning
1 ADJUSTMENT FUNCTION TYPES 1.2 Adjustment functions available in combination with MR Configurator2
2
2 ADJUSTMENT PROCEDURE Adjust the servo amplifier using the following procedure.
No. Instructions (1) Set [Pr. PA08.0 Gain adjustment mode selection] to "0".
Use this mode to set the same setting value in [Pr. PB07 Model control gain] to all axes when performing interpolation such as path control or tandem drive for a system with 2 axes or more. Do not use this for other purposes. Page 40 2 gain adjustment mode 1
(2) This mode can adjust the servo amplifier without driving the servo motor. Adjust the servo amplifier with this mode when not executing interpolation control. Page 13 Quick tuning
(3) Change the mode to the load to motor inertia ratio monitor mode if no problem appears in the adjustment result of quick tuning. Page 13 Quick tuning
(4) Use one-touch tuning if the quick tuning result is not satisfactory. One-touch tuning offers a higher response level than quick tuning that enables quicker positioning. Page 17 One-touch tuning
Yes
Yes
No
No
No
No
No
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No (7)
(6)
(5)
(4)
(3)
(2) (1)
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 monitor mode Adjustment for
large load fluctuationIs load fluctuation large during operation?
One-touch tuning Handling the error
Is handling an error possible?
Successfully completed?
Operation Auto tuning
Is the adjustment satisfactory?
2 gain adjustment mode 2 Is the adjustment satisfactory?
Operation
Is the adjustment satisfactory? Operation
Manual adjustment Is the adjustment satisfactory?
End
2 ADJUSTMENT PROCEDURE 11
12
(5) Set [Pr. PA08.0 Gain adjustment mode selection] to "1" or "2". Page 34 Auto tuning mode 1
(6) [Pr. PA08.0 Gain adjustment mode selection] is automatically set to "4" (2 gain adjustment mode 2) once one-touch tuning is complete. Page 17 One-touch tuning
(7) Set [Pr. PA08.0 Gain adjustment mode selection] to "3". Use the manual adjustment for fast settling or high accuracy path control. Page 42 Manual mode
No. Instructions
2 ADJUSTMENT PROCEDURE
3
3 ADJUSTMENT METHOD
3.1 Quick tuning To use quick tuning, set [Pr. PA08.0 Gain adjustment mode selection] to "5". Quick tuning performs gain adjustment for the servo amplifier when servo-on is turned on. The characteristics of quick tuning are as follows: Has the ability to reduce the overshoot regardless of machine type or load size and is effective when reducing the
overshoot is prioritized over shortening the settling time. Adjustment available without the positioning operation
Restrictions on quick tuning Quick tuning is not available in the following situations: During one-touch tuning In the torque mode In the continuous operation to torque control mode When using adaptive filter II
Precautions on quick tuning Do not use quick tuning in a tandem system. Some noise due to the applied vibration torque may occur during quick tuning, but the noise is not an abnormality. When the load to motor inertia ratio is more than 100 times, quick tuning cannot adjust the gain appropriately. Adjust the
gain by using an alternative method such as auto tuning. When quick tuning is enabled (performed), the time until the servo amplifier actually enters the servo-on state after turning
on the servo-on command increases by up to 300 ms. When the torque limit value is less than 30 % of the rated torque, the torque required for quick tuning cannot be generated,
and quick tuning may fail. Set the torque limit value to exceed 30 % of the rated torque for quick tuning. If the travel distance for quick tuning exceeds the set value in [Pr. PA34 Quick tuning - Permissible travel distance], quick
tuning will be stopped. [Pr. PB11 Speed differential compensation] will be changed to the initial value if quick tuning is used. When friction is 30 % or more of the rated torque, quick tuning may fail. In this case, adjust the gain with one-touch tuning
or auto tuning.
3 ADJUSTMENT METHOD 3.1 Quick tuning 13
14
Setting method for quick tuning
How to use quick tuning
Execute quick tuning using the following procedure.
When executing quick tuning at the initial servo-on after turning on the power 1. Turn off servo-on.
2. Set [Pr. PA08.0] to "5" (quick tuning).
3. Set [Pr. PA08.5] to "0" (at initial servo-on after cycling the power).
4. Check the load to motor inertia ratio. When the load to motor inertia ratio is 30 times or less Set [Pr. PA08.4] to "0" (load to motor inertia ratio of 30 times or less). When the load to motor inertia ratio is over 30 times but not greater than 100 times, or unknown Set [Pr. PA08.4] to "1" (load to motor inertia ratio of 100 times or less).
5. Set the permissible travel distance for quick tuning with [Pr. PA34].
6. Turn on servo-on to adjust servo parameters automatically. Quick tuning is then executed at each initial servo-on every time the power is turned on.
7. To retain the tuning results, set [Pr. PA08.0] to "6" (load to motor inertia ratio monitor mode).
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 5: Quick tuning mode 6: Load to motor inertia ratio monitor mode
PA08.4 Quick tuning - Load to motor inertia ratio setting
Select the load to motor inertia ratio of the equipment. The initial value is "0". 0: Load to motor inertia ratio of 30 times or less 1: Load to motor inertia ratio of 100 times or less
PA08.5 Quick tuning - Execution selection Set when to execute quick tuning. The initial value is "0". 0: At initial servo-on after cycling the power (Executes quick tuning at initial servo-on after turning on the power.) 1: At every servo-on (Executes quick tuning every time servo-on is turned on.)
PA34 Quick tuning - Permissible travel distance
Set the permissible travel distance for quick tuning. If the travel distance for quick tuning exceeds the setting value, the quick tuning error occurs. When "0" is set, the permissible travel distance for quick tuning is 1.0 rev (10 mm when using a linear servo motor). Setting range: 0 to 100
3 ADJUSTMENT METHOD 3.1 Quick tuning
3
When executing quick tuning every time servo-on is turned on 1. Turn off servo-on.
2. Set [Pr. PA08.0] to "5" (quick tuning).
3. Set [Pr. PA08.5] to "1" (at every servo-on).
4. Check the load to motor inertia ratio. When the load to motor inertia ratio is 30 times or less Set [Pr. PA08.4] to "0" (load to motor inertia ratio of 30 times or less). When the load to motor inertia ratio is over 30 times but not greater than 100 times, or unknown Set [Pr. PA08.4] to "1" (load to motor inertia ratio of 100 times or less).
5. Set the permissible travel distance for quick tuning with [Pr. PA34].
6. Turn on servo-on to adjust servo parameters automatically. Quick tuning is then executed each time servo-on is turned on.
7. To retain the tuning results, set [Pr. PA08.0] to "6" (load to motor inertia ratio monitor mode).
How to restore to servo parameter values from before quick tuning
When [Pr. PA08.6] is set to "1" (enabled), the following servo parameters return to the values they had set before quick tuning was executed. If quick tuning has never been performed after power-on or software reset, setting [Pr. PA08.6] to "1" only keeps the current servo parameter values.
Servo parameter Name Description PA08.6 Quick tuning - Restore selection Set whether to restore to the servo parameter values from before quick tuning. The initial value is
"0". 0: Disabled 1: Enabled
No. Symbol Name PB01 FILT Adaptive tuning mode (adaptive filter II)
PB07 PG1 Model control gain
PB08 PG2 Position control gain
PB09 VG2 Speed control gain
PB10 VIC Speed integral compensation
PB11 VDC Speed differential compensation
PB13 NH1 Machine resonance suppression filter 1
PB14 NHQ1 Notch shape selection 1
PB15 NH2 Machine resonance suppression filter 2
PB16 NHQ2 Notch shape selection 2
PB18 LPF Low-pass filter setting
PB23 VFBF Low-pass filter selection
PB50 NH5 Machine resonance suppression filter 5
PB51 NHQ5 Notch shape selection 5
PE41 EOP3 Function selection E-3
3 ADJUSTMENT METHOD 3.1 Quick tuning 15
16
Operation of quick tuning When quick tuning is started, the servo amplifier applies vibration torque instantly, then adjusts each gain and the machine resonance suppression filter by using the response from that excitation. The maximum vibration torque that can be applied is 60 % of the rated torque. However, the vibration torque is limited by the torque limit value when the torque limit value is less than 60 % of the rated torque. The adjustment takes about 300 [ms]. When magnetic pole detection is executed, quick tuning will be started after the magnetic pole detection. Once gain adjustment by quick tuning is complete, the gain can be changed as in the manual mode. In addition, the load to motor inertia ratio will be always estimated as in auto tuning mode 1 after gain adjustment.
The following servo parameters are adjusted automatically in quick tuning.
Errors in quick tuning Quick tuning may fail under the f