Mitsubishi Electric MELSERVO MR-J2 C Series, Instruction Manual

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9. ADJUSTMENT 9 - 1 to 9 -10
9.1 What is gain adjustment?...................................................................................................................... 9 - 1
9.1.1 Difference between servo amplifier and other drives .................................................................. 9 - 1
9.1.2 Basics of the servo system .............................................................................................................. 9 - 2
9.2 Gain adjustment..................................................................................................................................... 9 - 3
9.2.1 Parameters required for gain adjustment..................................................................................... 9 - 3
9.2.2 Block diagram .................................................................................................................................. 9 - 3
9.2.3 What is auto tuning? ....................................................................................................................... 9 - 4
9.3 Gain adjustment by auto tuning........................................................................................................... 9 - 5
9.3.1 Adjustment method ......................................................................................................................... 9 - 5
9.3.2 Valid conditions................................................................................................................................ 9 - 5
9.4 Manual gain adjustment........................................................................................................................ 9 - 6
9.4.1 When machine rigidity is low ......................................................................................................... 9 - 6
9.4.2 When the machine vibrates due to machine resonance frequency............................................. 9 - 7
9.4.3 Load inertia moment is 20 or more times ..................................................................................... 9 - 8
9.4.4 When shortening the settling time ................................................................................................ 9 - 9
9.4.5 When the same gain is used for two or more axes ...................................................................... 9 -10
9.5 Slight vibration suppression control.................................................................................................... 9 -10
10. INSPECTION 10 - 1 to 10 - 2
11. TROUBLESHOOTING 11 - 1 to 11 -10
11.1 Trouble at start-up ............................................................................................................................. 11 - 1
11.2 When alarm or warning has occurred .............................................................................................. 11 - 2
11.2.1 Alarms and warning list ............................................................................................................. 11 - 2
11.2.2 Remedies for alarms.................................................................................................................... 11 - 3
11.2.3 Remedies for warnings................................................................................................................ 11 - 8
12. SPECIFICATIONS 12 - 1 to 12 - 8
12.1 Servo amplifier standard specifications ........................................................................................... 12 - 1
12.2 Outline dimension drawings ............................................................................................................. 12 - 3
12.2.1 Servo amplifiers ........................................................................................................................... 12 - 3
12.2.2 Connectors.................................................................................................................................... 12 - 6
13. CHARACTERISTICS 13 - 1 to 13 - 8
13.1 Overload protection characteristics.................................................................................................. 13 - 1
13.2 Power supply equipment capacity and generated loss ................................................................... 13 - 3
13.3 Dynamic brake characteristics.......................................................................................................... 13 - 5
13.4 Encoder cable flexing life ................................................................................................................... 13 - 7
14. OPTIONS AND AUXILIARY EQUIPMENT 14 - 1 to 14 -34
14.1 Options................................................................................................................................................. 14 - 1
14.1.1 Regenerative brake options ........................................................................................................ 14 - 1
14.1.2 Cables and connectors................................................................................................................. 14 - 5
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