Mitsubishi HD-5000A Instruction Manual Page 213
- Page / 356
- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
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8 - 4
8. GENERAL GAIN ADJUSTMENT
8.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Servo
motor
Command
Automatic setting
Control gains
PG1,VG1
PG2,VG2,VIC
Current
control
Current feedback
Load inertia
moment
Encoder
Position/speed
feedback
Real-time auto
tuning section
Speed feedback
Load inertia
moment ratio
estimation section
Gain
table
Parameter No. 3
Third digit
Auto tuning selection
First digit
Response level setting
Parameter No. 34
Load inertia moment
ratio estimation value
Set 0 or 1 to turn on.
Switch
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to parameter No. 34 (load inertia moment ratio). These results can be confirmed on
the status display screen of the servo amplifier display section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
chose the "auto tuning mode 2" (parameter No.3:
2 ) to stop the estimation of the load inertia
moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.
34) manually.
From the preset load inertia moment ratio (parameter No. 34) value and response level (The first digit of
parameter No. 3), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-
on. At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM
being used as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the estimation of the
inertia moment ratio may malfunction temporarily. In such a case, choose the
"auto tuning mode 2" (parameter No. 3:
2 ) and set the correct load inertia
moment ratio in parameter No. 34.
When any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1
settings is changed to the manual mode 2 setting, the current control gains and
load inertia moment ratio estimation value are saved in the EEP-ROM.
- J2-Super Series 1
- Safety Instructions 2
- WARNING 3
- CAUTION 3
- About processing of waste 7
- PE terminals 9
- Crimping terminal 9
- Insulating tube 9
- 1,L2 and leave L3 open 21
- CN1A CN1B 23
- 81 102 103 33
- MODE UP DOWN 35
- Magnetic 43
- Regenerative option 43
- (Note 1) 43
- 2. INSTALLATION 46
- 3. SIGNALS AND WIRING 50
- Servo motor 77
- PE terminal 77
- Control box 77
- Electromagnetic brake 83
- Approx. 10mm 86
- Less than 0.5mm 86
- 4. OPERATION 100
- Ignored 101
- Forward rotation jog 117
- Reverse rotation jog 117
- Forward rotation 118
- Deceleration time 125
- Creep speed 125
- Parameter No. 10 125
- Parameter No. 41 125
- Home position 132
- Home position return 132
- Proximity dog 132
- CAUTION 133
- WARNING 134
- Parameter No.2 135
- 0: Incremental system 135
- Parameter No. 0 139
- 5. PARAMETERS 142
- 0: Base circuit switched off 156
- Electronic gear 162
- Parameters No. 4, 5 162
- Parameter No. 17 164
- Max. torque 165
- Alarm history clear 167
- 0: Invalid (not cleared) 167
- 1: Valid (cleared) 167
- Parameter No. 16 167
- Expansion parameter 1 190
- Expansion parameter 2 190
- 7. DISPLAY AND OPERATION 191
- Expansion parameters 2 200
- Expansion parameters 1 200
- 8. GENERAL GAIN ADJUSTMENT 210
- Parameter No. 3 220
- Auto tuning selection 220
- Parameter No. 63 226
- Low-pass filter selection 226
- 1: Invalid 226
- Command frequency kpps 229
- Droop pulses pulse 229
- Servo motor speed r/min 229
- 10. INSPECTION 232
- 11. TROUBLESHOOTING 234
- Checking method 237
- AL.24 occurs if the servo is 238
- MITSUBISHI 248
- Servo amplifier 249
- [kg] ([lb]) 249
- MR-J2S-500CL 4.9 (10.8) 249
- MR-J2S-700CL 7.2 (15.9) 250
- 13. CHARACTERISTICS 254
- (Outside) 256
- (Inside) 256
- Air flow 256
- 82.5 40 (1.58) 265
- Accessory screw 266
- For MR-J2S-500CL 267
- For MR-J2S-700CL 267
- (Note 9) 271
- N/ P/ PR 272
- 2- 5 hole 274
- (Screw size: M4) 274
- Model : MR-CPCATCBL3M 285
- Model : MR-J2TBL M 287
- EM1 PESG 288
- LG LG MO1 MO2 288
- COM DI MBR EMGO 288
- TXD TXD RXDRXD P5 LG 290
- [Unit: mm (in)] 291
- 12V 0V A B 292
- 3- 4.8(0.189) 293
- Panel cutting 293
- [Unit: mm(in)] 293
- Conductor 295
- Insulation sheath 295
- Strip the cable sheath of 301
- FR-BLF(MR-J2S-350CL or more) 303
- MR-J2S-40CL 306
- [Unit: mm] 309
- 15. COMMUNICATION FUNCTIONS 312
- 0123456 7 314
- (LSB) (MSB) 314
- 1 frame (11bits) 314
- 3000000929 327
- PPENDIX 348
- REVISIONS 352
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