Mitsubishi Electric MR-J5 User Manual
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Mitsubishi Electric MR-J5 User Manual

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Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Adjustment)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5D_-_G_
-MR-J5-_G_-_N1
-MR-J5W_-_G-_N1
-MR-J5D_-_G_-_N1
-MR-J5-_B_
-MR-J5W_-_B_
-MR-J5-_A_

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Summary of Contents for Mitsubishi Electric MR-J5

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Adjustment) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1 -MR-J5-_B_ -MR-J5W_-_B_ -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 (20 minutes or more for converter units/drive units) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...

  • Page 5: About The Manual

    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 •...

  • Page 6: U.s. Customary Units

    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 [N•m] 141.6 [oz•inch] Moment of inertia...

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 8 Adjustment procedure for position mode and positioning mode ........55 Load to motor inertia ratio monitor mode.
  • Page 9 Servo parameters for setting the gain switching condition ......... 87 Servo parameters that are changeable with the gain switching .

  • Page 10: 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 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.

  • Page 11: 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 18 One- One-touch tuning Use this function to reduce settling time within the designated In-position range. touch tuning Machine resonance Use this function if machine resonance occurs when the response level is increased in auto tuning or Page 60 suppression filter manual mode.

  • Page 12: Manual Adjustment Functions To Obtain The Maximum Performance

    Manual adjustment functions to obtain the maximum performance Adjustment function Outline Reference Page 52 Manual mode Use this function if the performance of quick tuning, one-touch tuning, and auto tuning is not satisfactory. Manual mode Page 86 Gain switching function Use this function for: 1) Reducing the settling time GAIN...

  • Page 13: 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 characteristics of the mechanical resonance are known.

  • Page 14: Chapter 2 Adjustment Procedure

    Adjust the servo amplifier using the following procedure. • When the MR-J5_-_G_ or MR-J5-_A_ with firmware version C4 or later is used, it is recommended to set [Pr. PA24.5 Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection] to "1".
  • Page 15 Instructions 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 16: Chapter 3 Adjustment Method

    ADJUSTMENT METHOD 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.

  • Page 17: 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 18 ■When executing quick tuning every time servo-on is turned on Turn off servo-on. Set [Pr. PA08.0] to "5" (quick tuning mode). Set [Pr. PA08.5] to "1" (at every servo-on). Check the load to motor inertia ratio. • When the load to motor inertia ratio is 30 times or less Set [Pr.

  • Page 19: Operation Of Quick Tuning

    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.

  • Page 20: One-Touch Tuning

    One-touch tuning By turning on one-touch tuning during servo motor operation, one-touch tuning performs an adjustment in accordance with the machine characteristics. One-touch tuning can be performed using either of two methods: the user command method and the amplifier command method. User command method The user command method performs one-touch tuning by inputting commands from outside the servo amplifier.

  • Page 21: Instructions On One-Touch Tuning

    Instructions on one-touch tuning Instructions on user command method [B] • When performing one-touch tuning, connect the servo system controller with the servo amplifier or set the servo amplifier to the test operation mode. For one-touch tuning in the test operation mode, write the results of the one-touch tuning to the servo parameter of the servo system controller, then connect the servo system controller with the servo amplifier.

  • Page 22: One-Touch Tuning Procedure

    One-touch tuning procedure • When the MR-J5_-_G_ or MR-J5-_A_ with firmware version C4 or later is used, it is recommended to set [Pr. PA24.5 Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection] to "1". When [Pr. PA24.5] is set to "0", [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] may be estimated at a value smaller than the accurate estimation depending on the operation pattern.
  • Page 23 ■Overshoot permissible level setting Set the overshoot permissible level for one-touch tuning in [Pr. PA25 One-touch tuning - Overshoot permissible level]. One- touch tuning adjusts the settling time to be as short as possible within the range of the overshoot permissible level. Therefore, when the value set in [Pr.
  • Page 24 ■Operation Inputting commands to the servo amplifier that satisfy the following conditions is recommended. A one-touch tuning error may occur if one-touch tuning is performed for a servo amplifier that has commands input which do not satisfy these conditions. One cycle time Forward rotation Travel distance Dwell...
  • Page 25 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 26 MR Configurator2 procedure for one-touch tuning using the amplifier command method Perform one-touch tuning using 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 overshoot permissible level for one-touch tuning in [Pr. PA25 One-touch tuning - Overshoot permissible level]. One-touch tuning start, command method selection On MR Configurator2, select "One-touch Tuning"...
  • Page 27 ■Command method selection and permissible travel distance input Select "Amplifier command method" in the one-touch tuning window of MR Configurator2. Input a permissible travel distance for the amplifier command method in the servo motor-side resolution unit. For the fully closed loop control mode, input a permissible travel distance in the load-side resolution unit.
  • Page 28 ■One-touch tuning execution Clicking "Start" after selecting a response mode starts the one-touch tuning in the amplifier command method. Page 22 Command method and response mode selection Clicking "Start" for one-touch tuning using the amplifier command method while in the servo-off state automatically turns on servo-on and starts one-touch tuning.
  • Page 29 Procedure for one-touch tuning via controller [G] Perform one-touch tuning using the following procedure. Start Overshoot permissible level setting Set the in-position range for one-touch tuning in [Pr. PA25 One-touch tuning - Overshoot permissible level]. Operation Rotate the servo motor using the controller. One-touch tuning via a controller cannot be performed during a servo motor stop. Response mode setting, one-touch tuning execution To perform one-touch tuning, write the value of the response mode (High mode/Basic mode/Low mode) in [One-touch tuning mode (Obj.
  • Page 30 ■Object registration Register the following objects when performing one-touch tuning. Index Object Name Description 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". 0: One-touch tuning stop in progress 1: Basic mode 2: High mode 3: Low mode...
  • Page 31 One touch adjustment procedure with push button [A] Perform one-touch tuning using the following procedure. Start Overshoot permissible level setting Set the in-position range for one-touch tuning in [Pr. PA25 One-touch tuning - Overshoot permissible level]. Operation Rotate the servo motor using the controller. In the user command method, one-touch tuning cannot be performed during a servo motor stop.
  • Page 32 ■Response mode selection Select a response mode for one-touch tuning from three modes with the "UP" button or the "DOWN" button. Refer to the following for guidelines of response mode. Page 22 Command method and response mode selection Response mode selection display Low mode : This mode is for a low-rigid system.

  • Page 33: Progress Display During One-Touch Tuning

    After tuning is completed or canceled, the servo amplifier is automatically switched to servo-off state. For the MR-J5_-_B_ and MR-J5-_A_, the servo amplifiers stay in servo-on state if the servo-on command is input from outside. Once one-touch tuning using the amplifier command method is performed in the MR-J5_-_B_, it cannot be controlled by commands from the controller.
  • Page 34 On a controller [G] 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 %, one-touch tuning is completed and [One-touch tuning mode (Obj. 2D50h)] switches to "0". With push buttons [A] The following are displayed during one-touch tuning.

  • Page 35: Servo Parameters Adjusted With One-Touch Tuning

    Vibration suppression control 2 - Vibration frequency damping PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping PE41.0  Robust filter selection *1 Available only on the MR-J5-_A_. The MR-J5_-_G_ and MR-J5_-_B_ do not have this servo parameter. 3 ADJUSTMENT METHOD 3.2 One-touch tuning...

  • Page 36: One-Touch Tuning Stop Method

    One-touch tuning stop method On MR Configurator2 Clicking the "Stop" button during tuning stops one-touch tuning. If one-touch tuning is stopped, "C000" will be displayed in the error code status. After one-touch tuning is stopped, the servo parameters are restored to the values they had at the start of one-touch tuning.

  • Page 37: One-Touch Tuning Error

    One-touch tuning error On MR Configurator2 If a tuning error occurs during the tuning, 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 one-touch tuning after the moving part is returned to the tuning start position.
  • Page 38 Display Name Error description Handling example C_07 Amplifier command One-touch tuning (amplifier command) was Execute one-touch tuning using the amplifier command method generation error performed with a permissible travel distance of 100 after setting the permissible travel distance to be 100 [pulse] or [pulse] or less in the encoder pulse unit, or with a more in the encoder pulse unit, or setting the distance so that permissible travel distance that limited the servo...
  • Page 39 • [Pr. PE41.0 Robust filter selection] *1 Available only on the MR-J5-_A_. The MR-J5_-_G_ and MR-J5_-_B_ do not have this servo parameter. If the error code is C1 _ _, [Pr. PB07 Model control gain] returns the servo parameters to the value they had at the start of one- touch tuning.
  • Page 40 On a controller [G] If a tuning error occurs during the 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. Stop the servo motor before executing one-touch tuning again. In addition, perform one-touch tuning after the moving part is returned to the tuning start position.

  • Page 41: Initializing One-Touch Tuning

    [Pr. PB51.0 Machine resonance suppression filter 5 selection] is initialized to "0". PE41.0  Robust filter selection  *1 Available only on the MR-J5-_A_. The MR-J5_-_G_ and MR-J5_-_B_ do not have this servo parameter. 3 ADJUSTMENT METHOD 3.2 One-touch tuning...
  • Page 42 On MR Configurator2 The servo parameters can be returned to the initial value by clicking "Return to initial value" in the one-touch tuning window of MR Configurator2. In addition, click "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 to return servo parameters to the value that was set before clicking the start button.
  • Page 43 With push buttons [A] In the clear mode, the one-touch tuning result can be rewritten to the factory setting of the servo parameter. In the back mode, the one-touch tuning result can be returned to the value from before one-touch tuning. The setting value of the returned servo parameter is stored in the non-volatile memory.

  • Page 44: Auto Tuning Mode 1

    Auto tuning mode 1 The servo amplifier has a real-time auto tuning function which estimates the machine characteristics (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 45: Adjustment Procedure By Auto Tuning Mode 1

    The adjustment procedure is as follows. • When the MR-J5_-_G_ or MR-J5-_A_ with firmware version C4 or later is used, it is recommended to set [Pr. PA24.5 Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection] to "1".

  • Page 46: Responsiveness Setting In Auto Tuning Mode 1

    Responsiveness setting in auto tuning mode 1 Set the response level for the entire servo system with [Pr. PA09]. As the responsiveness setting increases, the trackability to the command improves and the settling time becomes shorter, though vibration is more likely to occur. Therefore, set a value to obtain the desired response within the vibration-free range.
  • Page 47 • [Pr. PA09] Setting value Machine characteristic Responsiveness Guideline for machine resonance frequency [Hz] Low 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...

  • Page 48: Operation Of Auto Tuning Mode 1

    Operation of auto tuning mode 1 The block diagram for 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 49: Auto Tuning Mode 2

    Auto tuning mode 2 Use auto tuning mode 2 when normal gain adjustment cannot be performed using auto tuning mode 1. Since the load to motor inertia ratio is not estimated in this mode, set a correct value of the load to motor inertia ratio in [Pr. PB06]. This mode is the optimum adjustment method for adjusting with the response waveform being checked while the load to motor inertia ratio is known or if gain adjustment using auto tuning mode 1 cannot be executed properly.

  • Page 50: Responsiveness Setting In Auto Tuning Mode 2

    Responsiveness setting in auto tuning mode 2 Refer to the following. Page 44 Responsiveness setting in auto tuning mode 1 Operation of auto tuning mode 2 The block diagram for auto tuning mode 2 is shown below. Load moment Automatic setting of inertia Encoder Command...

  • Page 51: Gain Adjustment Mode 1

    Adjustment procedure for 2 gain adjustment mode 1 • When the MR-J5_-_G_ or MR-J5-_A_ with firmware version C4 or later is used, it is recommended to set [Pr. PA24.5 Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection] to "1".

  • Page 52: Operation Of 2 Gain Adjustment Mode 1

    Servo parameter adjustment method [Pr. PB07 Model control gain] This servo parameter determines the response level of the position control loop. Increasing the model loop gain improves trackability to the position command, but overshoot tends to occur at settling time. Number of droop pulses can be calculated with the following formula.

  • Page 53: Gain Adjustment Mode 2

    2 gain adjustment mode 2 Use 2 gain adjustment mode 2 if the one-touch tuning results do not satisfy the required performance or if gain adjustment cannot be executed properly by 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of an accurate load to motor inertia ratio in [Pr.

  • Page 54: 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 60 Machine resonance suppression filter Page 63 Adaptive filter II Adjustment procedure for velocity mode...
  • Page 55 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 56 Servo parameter adjustment method ■[Pr. PB07 Model control gain] As a guide, this servo parameter can be calculated with the following formula. Speed control gain Model 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.

  • Page 57: Adjustment Procedure For Position Mode And Positioning Mode

    Adjustment procedure for position mode and positioning mode Servo parameter The following servo parameters are used for gain adjustment. Servo parameter Symbol Name PB06 Load to motor inertia ratio/load to motor mass ratio PB07 Model control gain PB08 Position control gain PB09 Speed control gain PB10...
  • Page 58 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 59 Servo parameter adjustment method ■[Pr. PB07 Model control gain] As a guide, this servo parameter can be calculated with the following formula. Speed control gain Model control gain guideline = × (1 + Load to motor inertia ratio) Number of droop pulses at the constant speed can be calculated with the following expression. Position command frequency [pulse/s] Number of droop pulses [pulse] = Model control gain setting value...

  • Page 60: Load To Motor Inertia Ratio Monitor Mode

    Adjustment procedure for load to motor inertia ratio monitor mode • When the MR-J5_-_G_ or MR-J5-_A_ with firmware version C4 or later is used, it is recommended to set [Pr. PA24.5 Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection] to "1".

  • Page 61: 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 62: Machine Resonance Suppression Filter

    Machine resonance suppression filter Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. When the mechanical system resonates and does not meet the required performance, use the machine resonance suppression filter. The following five machine resonance suppression filters can be set simultaneously using a setting range of 10 Hz to 9000 Filter Servo parameter Servo parameter that is...

  • Page 63: 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 64: 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 65: 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 66: Restrictions On Adaptive Tuning

    Restrictions on adaptive tuning Adaptive tuning cannot be used while quick tuning is in progress. For the MR-J5W_-_G_, MR-J5D2-_G_, MR-J5D3-_G_, and MR-J5W_-_B_, adaptive tuning cannot be executed on several axes at the same time. For the MR-J5W_-_G_, MR-J5D2-_G_, MR-J5D3-_G_, and MR-J5W_-_B_, execute adaptive tuning on one axis at a time.

  • Page 67: Adaptive Tuning Procedure

    Adaptive tuning procedure Adaptive tuning Operation Is the performance satisfactory? Increase the response level. Has vibration or unusual noise occurred? Tuning in the standard mode Tuning in the high accuracy mode Execute or re-execute adaptive tuning in Execute or re-execute adaptive tuning in the high accuracy mode.

  • Page 68: 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 this 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 69 Setting value Frequency [Hz] Disabled Disabled Disabled Disabled Disabled Disabled Disabled Disabled 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 70 Setting value Frequency [Hz] 4 VIBRATION SUPPRESSION FUNCTION 4.4 Shaft resonance suppression filter...
  • Page 71 Setting value Frequency [Hz] 4 VIBRATION SUPPRESSION FUNCTION 4.4 Shaft resonance suppression filter...

  • Page 72: 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 73: Robust Filter

    Robust filter The robust filter provides both high response and stability to large inertia devices driven by belts and gears, such as printing and packaging machines, which is difficult to achieve with the conventional control. Greater stability can be ensured by gradually reducing the torque of the wide frequency range.

  • Page 74: 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 from inside the servo amplifier and performing positioning.

  • Page 75: 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 selection] to "1" (3 inertia mode).

  • Page 76: Advanced Vibration Suppression Control Precautions

    Advanced vibration suppression control precautions • Stop the servo motor before changing the servo parameters related to vibration suppression control. Failing to do so will cause an unexpected movement of the servo motor or other parts in the system. • Vibration suppression control tuning is unable to be estimated normally if the residual vibration at the servo motor side is small.
  • Page 77 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 78 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 79 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 80: Command Notch Filter

    Command notch filter The command notch filter is a filter function that lowers the gain of a 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 81: 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 82 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 83 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 84: Vibration Tough Drive

    Vibration tough drive Vibration tough drive function is a function to instantaneously update 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 85: Operation Of Vibration Tough Drive

    Operation of vibration tough drive The function block diagram for the vibration tough drive function is shown below. If the oscillation level exceeds the level set in [Pr. PF23 Vibration tough drive - Oscillation detection level], [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] will be set according to the detected machine resonance frequency and the machine resonance suppression filter being used.
  • Page 86 The timing chart of the vibration tough drive is shown as follows: [Pr. PF23 Vibration tough drive - Oscillation 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 87: Command Smoothing Filter

    When [Pr. PA01.7 High-speed mode selection] is set to "1" (enabled), values exceeding 50 ms are clamped to 50 ms. For the MR-J5-_A_ in position control mode, use [Pr. PB03 Position command speed adjustment time constant (position smoothing)] to suppress the effect of noise in a position command input.

  • Page 88: 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 89: Restrictions On Gain Switching [A]

    Restrictions on gain switching [A] • When [Pr. PA08.0 Gain adjustment mode selection] is set to a value other than "3" (manual mode), the gain switching cannot be used. • Gain switching vibration suppression control ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]) and [Pr. PB60 Gain switching - Model control gain] can be used when the input device (CDP) is turned on.
  • Page 90 [Pr. PB26 Gain switching function] Select the gain switching condition. Servo parameter Description PB26.0 Gain switching selection 0: Disabled 1: Signal (CDP/C_CDP) [G] [A]/control command from the controller [B] 2: Command frequency 3: Droop pulses 4: Servo motor speed 5: Command direction When "1"...

  • Page 91: Servo Parameters That Are Changeable With The Gain Switching

    Servo parameters that are changeable with the gain switching Control gain Before gain switching After gain switching After gain switching 2 Servo parameter Symbol Servo parameter Symbol Servo parameter Symbol Load to motor inertia ratio/load PB06 PB29 GD2B PB67 GD2C to motor mass ratio Model control gain PB07...

  • Page 92: Related Objects [G]

    [Pr. PB60 Gain switching - Model control gain], [Pr. PB79 Gain switching 2 - Model control gain] Set the model control gain after gain switching. These servo parameters are enabled when "1" is selected in [Pr. PB26.0 Gain switching selection], and the signal is turned Vibration suppression control after gain switching ([Pr.

  • Page 93: 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 Gain switching selection]). When [Pr.
  • Page 94 ■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 95 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 96 ■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 97 When "Time constant disabled at switching" is selected in "Gain switching time constant - Disabling condition selection" The time constant is disabled at gain switching. The time constant becomes enabled at gain return. The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "4" (Servo motor speed). CDL2 Servo motor 0 r/min...

  • Page 98: Gain Switching By Signals Or Control Commands From The Controller

    Gain switching by signals or control commands from the controller The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "1". Gain switching by control commands from the controller [G] [B] The following shows the timing chart. C_CDP2 or control command 2 from the controller...
  • Page 99 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 100: 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 101 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 102: Gain Switching By Servo Motor Speed And Gain Switching 2 (Cdp2/C_Cdp2) [G] [A]

    Gain switching by servo motor speed and gain switching 2 (CDP2/C_CDP2) [G] [A] 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". In this case, the setting of [Pr.

  • Page 103: Gain Switching By Control Commands From The Controller And Gain Switching 2 [B]

    Gain switching by control commands from the controller and gain switching 2 [B] 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" (control command from the controller). In this case, the setting of [Pr.

  • Page 104: 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 positioning 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 105 MEMO 6 SPEED FEED FORWARD CONTROL FUNCTION 6.1 Method for setting the speed feed forward...

  • Page 106: Chapter 7 Overshoot Suppression Control

    OVERSHOOT SUPPRESSION CONTROL Overshoot suppression control is a function that decreases overshoot at positioning for machines with high friction. Use this function when the overshoot does not decrease even after adjusting [Pr. PB07 Model control gain]. Restrictions on overshoot suppression control •...
  • Page 107 MEMO 7 OVERSHOOT SUPPRESSION CONTROL 7.2 Settings of the overshoot suppression control...

  • Page 108: 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 • Slight vibration suppression control is enabled only in the position mode and positioning mode. •...
  • Page 109 MEMO 8 SLIGHT VIBRATION SUPPRESSION CONTROL 8.3 Operation of slight vibration suppression control...

  • Page 110: Chapter 9 Unbalanced Torque Offset

    Complete friction estimation for both the forward and reverse rotations. For the procedure of friction estimation, refer to "Vibration estimation function" in the following manual. MR-J5 User's Manual (Function) Once friction estimation is complete for both the forward and reverse rotations, the value of [Pr. PE47 Unbalanced torque offset] will be set automatically according to the estimated friction value.
  • Page 111 MEMO 9 UNBALANCED TORQUE OFFSET 9.1 Setting unbalanced torque offset...

  • Page 112: Chapter 10 Model Adaptive Control

    MODEL ADAPTIVE CONTROL This function enables control according to the ideal model that is both stable and highly responsive. 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.

  • Page 113: Disabling Model Adaptive Control

    10.2 Disabling model adaptive control The servo amplifier has model adaptive control. The servo amplifier with model adaptive control uses a virtual motor model inside the servo amplifier and drives the servo motor following the output of the motor model. Disabling model adaptive control means to drive the servo motor with PID control instead.

  • Page 114: 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 115: 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 "0" (Standard mode), "1"...

  • Page 116: Super Trace Control

    11.2 Super trace control The super trace control is available on servo amplifiers with firmware version A5 or later. Super trace control is a function that uses the ideal model inside the servo amplifier to reduce droop pulses at the uniform acceleration/deceleration to almost 0.

  • Page 117: Operation Of Super Trace Control

    Operation of super trace control Super trace control uses the ideal model held inside the servo amplifier to compensate for droop pulses at the constant speed and at uniform acceleration/deceleration which the feed forward gain could not reduce to 0. Control Position command (the same command) Droop pulses...

  • Page 118: Lost Motion Compensation Function

    11.3 Lost motion compensation function The lost motion compensation function improves the response delay (caused by a non-sensitive band due to friction, twist, expansion, and backlash) generated when the machine travel direction is reversed. With this function, protrusions at a quadrant change and streaks at a quadrant change during circular cutting can be improved.

  • Page 119: Setting The Lost Motion Compensation Function

    Setting the lost motion compensation function Set the lost motion compensation using the following procedure. Lost motion compensation function selection ([Pr. PE48]) Select the lost motion compensation function. Servo parameter Description PE48.0 Lost motion compensation type selection 0: Lost motion compensation disabled 1: Lost motion compensation enabled PE48.1 Lost motion compensation dead band unit setting...

  • Page 120: Adjusting The Lost Motion Compensation

    Adjusting the lost motion compensation Adjust the lost motion compensation using the following procedure. Measure the torque Use MR Configurator2 to measure the torque in the forward direction feed and reverse direction feed. Setting the lost motion compensation amount Calculate the friction torque from the torque measurement result, and then set a value twice the friction torque in [Pr. PE44] and [Pr.
  • Page 121 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 122: Revisions

    Section 5.4, Section 5.5, Section 5.6, Section 11.2, Section 11.3 This manual confers no industrial property rights or any 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 123: Warranty

    We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

  • Page 124: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark 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-F...
  • Page 126 SH(NA)-030306ENG-F(2207)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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