Mitsubishi Electric MELSERVO MR-J2 C Series, Instruction Manual

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9. ADJUSTMENT
9.3 Gain adjustment by auto tuning
9.3.1 Adjustment method
In the factory setting of the servo amplifier, auto tuning is valid and the response level setting is "2"
(parameter No.3 : 0104).
The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by
adjusting the response level setting (parameter No.3) according to machine rigidity.
The following table lists guidelines for response level setting to drive systems. Choose slow response when
using a reduction gear having backlash:
Main Drive System Fast Response Middle Response Slow Response
Direct coupling
Ballscrew
With reduction gear
Direct coupling
Rack & pinion
With reduction gear
Direct coupling
Timing belt
With reduction gear
Direct coupling
Chain
With reduction gear
The following is how to adjust the response setting level to machine phenomena:
Actual Machine Operation Ideal Machine Operation Parameter No.3 Setting
Settling time is long (Note) Reduce settling time. Increase response level setting.
Large overshoot at stop Reduce overshoot.
Decrease response level setting.
Set machine selection setting to "large friction".
Gear sound generated from machine Reduce gear sound. Decrease response level setting.
Note: Settling time indicates time from zero command pulse to servo motor stop.
9.3.2 Valid conditions
POINT
If the acceleration/deceleration time is long or the servo motor speed used is
only low speed, the valid conditions of auto tuning are not satisfied.
Therefore, it may result in false tuning.
In this case, after performing operation which satisfies the auto tuning
conditions, set auto tuning selection to "Not executed" (parameter No.3: 2
).
This section provides constraints on the operation pattern to enable excellent auto tuning. If the
conditions in this section cannot be satisfied, normal auto tuning may not be performed. In this case, after
executing auto tuning in operation which satisfies the conditions given in this section, make auto tuning
invalid to disallow the gain setting from being changed.
(1) Set the acceleration time (time until the preset speed is reached) to 5s or less and the acceleration/
deceleration current to 50% or more.
(2) Perform operation several times until the cumulative acceleration/deceleration time is 1s or more.
(3) Set the servo motor speed to 500r/min or more.
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