Mitsubishi Electric MELSERVO J5, MR-J5W-G, MR-J5, MR-J5-G, MR-J5-A User Manual

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MR-J5

Mitsubishi Electric AC Servo System

User's Manual (Adjustment)

-MR-J5-_G_

-MR-J5W_-_G

-MR-J5-_A_

SAFETY INSTRUCTIONS

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 what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

(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.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into

"POINT".

After reading this guide, keep it accessible to the operator.

[Installation/wiring]

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 (the terminal marked with the

symbol) of the servo amplifier to the protective earth (PE) of the cabinet.

● To prevent an electric shock, do not touch the conductive parts.

[Setting/adjustment]

WARNING

● To prevent an electric shock, do not operate the switches with wet hands.

[Operation]

WARNING

● To prevent an electric shock, do not operate the switches with wet hands.

[Maintenance]

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

This manual covers the following servo amplifiers.

• MR-J5-_G_/MR-J5W_-_G/MR-J5-_A_

In this manual, the servo amplifier names are abbreviated as shown below.

Symbol Servo amplifier

[G] MR-J5-_G_

[WG] MR-J5W_-_G

[A] MR-J5-_A_

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 1 [(× 10

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

-4

kg•m2)] 5.4675 [oz•inch2]

SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

CHAPTER 1 ADJUSTMENT FUNCTION TYPES 7

1.1 Adjustment function available to 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Progress display during one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Servo parameters adjusted with one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

One-touch tuning stop method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

One-touch tuning error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Initializing one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.3 Auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Restrictions on auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Instructions on auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Adjustment procedure by auto tuning mode 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Responsiveness setting in auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Operation of auto tuning mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.4 Auto tuning mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Precautions on auto tuning mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Adjustment procedure by auto tuning mode 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Responsiveness setting in auto tuning mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Operation of auto tuning mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.5 2 gain adjustment mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Adjustment procedure of 2 gain adjustment mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Operation of 2 gain adjustment mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.6 2 gain adjustment mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Adjustment procedure of 2 gain adjustment mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Operation of 2 gain adjustment mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.7 Manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Adjustment procedure of velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . 45

Adjustment procedure of position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3.8 Load to motor inertia ratio monitor mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Precautions on load to motor inertia ratio monitor mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Adjustment procedure of load to motor inertia ratio monitor mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Operation of load to motor inertia ratio monitor mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

CHAPTER 4 VIBRATION SUPPRESSION FUNCTION 50

4.1 Filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.2 Machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Machine resonance suppression filter restrictions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Machine resonance suppression filter precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Machine resonance suppression filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Operation of machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.3 Adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Restrictions on adaptive tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Precautions for adaptive filter II. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

How to set adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Adaptive tuning procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.4 Shaft resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Shaft resonance suppression filter restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Shaft resonance suppression filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4.5 Low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Low-pass filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Operation of low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.6 Robust filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Robust filter restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Robust filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.7 Advanced vibration suppression control II. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Advanced vibration suppression control restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Advanced vibration suppression control precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Advanced vibration suppression control setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Advanced vibration suppression control adjustment method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.8 Command notch filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Command notch filter setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

4.9 Vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Vibration tough drive restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Vibration tough drive precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Vibration tough drive setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Operation of vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

CONTENTS

CHAPTER 5 GAIN SWITCHING FUNCTION 73

5.1 Restrictions on gain switching [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.2 Restrictions on gain switching [A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.3 Precautions on gain switching [G] [WG]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.4 Precautions on gain switching [A]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.5 Setting method for gain switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Servo parameters for setting the gain switching condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Servo parameters that are changeable with the gain switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Related objects [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.6 Examples of gain switching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Gain switching by servo motor speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Gain switching by signals (CDP/C_CDP/CDP2/C_CDP2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Gain switching by command directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Gain switching by servo motor speed and gain switching 2 (C_CDP2) [G] [WG] . . . . . . . . . . . . . . . . . . . . . . . . 86

When "Switching time constant disabled" of "Gain switching time constant disabling condition selection" is

selected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

When "Return time constant disabled" of "Gain switching time constant disabling condition selection" is selected

CHAPTER 6 SPEED FEED FORWARD CONTROL FUNCTION 88

6.1 Method for setting the speed feed forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

CHAPTER 7 OVERSHOOT SUPPRESSION CONTROL 90

7.1 Restrictions on the overshoot suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

7.2 Settings of the overshoot suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

CHAPTER 8 SLIGHT VIBRATION SUPPRESSION CONTROL 92

8.1 Restrictions on the slight vibration suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

8.2 Settings of the slight vibration suppression control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

8.3 Operation of slight vibration suppression control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

CHAPTER 9 UNBALANCED TORQUE OFFSET 94

9.1 Setting unbalanced torque offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Automatic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Manual setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

CHAPTER 10 MODEL ADAPTIVE CONTROL 96

10.1 Setting model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

10.2 Disabling model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Instructions on disabling model adaptive control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

How to disable model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

CHAPTER 11 PATH CONTROL FUNCTION 98

11.1 Path tracking model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Setting the path tracking model adaptive control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Operation of path tracking model adaptive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

11.2 Lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Restrictions on lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Setting the lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Method for the lost motion compensation adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104

1 ADJUSTMENT FUNCTION TYPES

Precautions

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 are required to be set in accordance with the machine's characteristic. The

gain adjustment is set to "Auto tuning mode 1" at the factory setting. Use each adjustment function to improve the

responsiveness.

• MR-J5-_G_-RJ and MR-J5-_A_-RJ will be available in the future.

• When using the torque mode, gain adjustment is not required.

• Before adjusting gains, check that your machine has not been 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 keep the torque of the servo motor generated

during operation to be under 90 % of the maximum torque of the servo motor.

• If the torque of the servo motor reaches the torque limit value, even if the gain is changed, the response of the servo motor

does not change and the gain adjustment cannot perform accurately.

• When using a linear servo motor, replace the wording of the sentence as follows.

Load to motor inertia ratio → Load to motor mass ratio

Torque → Thrust

1.1 Adjustment function available to servo amplifier

alone

The following table shows the adjustment functions available to 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.

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.

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.

2 gain adjustment mode 1 Use this function for auto tuning a machine that requires path accuracy improvement, such as XY table

and tandem mechanism, and to suppress inter-axis interference.

2 gain adjustment mode 2 Use this function to adjust settling time and overshoot amount after the quick tuning or one-touch tuning

was performed.

Page 12 Quick tuning

Page 37 Auto tuning mode 1

Page 41 Auto tuning mode 2

Page 43 2 gain adjustment mode 1

Page 44 2 gain adjustment mode 2

1 ADJUSTMENT FUNCTION TYPES

1.1 Adjustment function available to servo amplifier alone

Adjustment functions to suppress vibration and to obtain a high level of responsiveness

Adjustment function Outline Reference

One-touch tuning Use this function to reduce settling time within the designated In-position range. Page 16 One-

touch tuning

Machine resonance suppression filter

Adaptive filter II Use this function to adjust the machine resonance suppression filter automatically. Page 53

Robust filter When the load to motor inertia ratio of a machine is 10 times or more, use this function to more increase

Advanced vibration suppression control II

Command notch filter Use this function to suppress vibration easily, if the vibration during setting is large at high-speed

Use this function if machine resonance occurs when the response level in the auto tuning and manual mode is increased.

the response level of the machine.

Use this function to reduce settling time as the vibration is being suppressed, if the vibration during setting is large at high-speed positioning.

positioning.

Page 50 Machine resonance suppression filter

Adaptive filter II

Page 59 Robust filter

Page 60 Advanced vibration suppression control II

Page 66 Command notch filter

Manual adjustment functions to obtain the maximum performance

Adjustment function Outline Reference

Manual mode Use this function if the performance of the quick tuning, one-touch tuning, and auto tuning is not

satisfactory.

Gain switching function Use this function for:

Speed feed forward Use this function to improve path accuracy by decreasing droop pulses at the constant speed. Page 88

Overshoot suppression function

Slight vibration suppression function

Unbalanced torque offset Use this function for freefall prevention on vertical axis at servo-on. Page 94

Path tracking model adaptive control

Lost motion compensation function

1) Reducing the stop settling time

2) Increasing the gain during servo-lock while suppressing vibration sound during rotation

3) When load fluctuation is large

Use this function to decrease the overshoot. Page 90

Use this function to suppress vibration at a servo motor stop. Page 92

Use this function to suppress overshoot in path control. Page 98 Path

Use this function to suppress quadrant projections at speed switching in path control. Page 99 Lost

Page 45 Manual mode

Page 73 GAIN SWITCHING FUNCTION

SPEED FEED FORWARD CONTROL FUNCTION

OVERSHOOT SUPPRESSION CONTROL

SLIGHT VIBRATION SUPPRESSION CONTROL

UNBALANCED TORQUE OFFSET

tracking model adaptive control

motion compensation function

1 ADJUSTMENT FUNCTION TYPES

1.1 Adjustment function available to servo amplifier alone

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 characteristic

One-touch tuning in the amplifier command method

of mechanical resonance is known. With the machine and servo motor connected, the characteristic of the mechanical system can be measured by giving a random vibration command from a personal computer to the servo amplifier, and by measuring the responsiveness of the machine.

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 the one-touch tuning, input the travel distance (permissible travel distance) on MR Configurator2 that avoids collision with the machine when driving the servo motor.



Page 16 One-

touch tuning

1 ADJUSTMENT FUNCTION TYPES

1.2 Adjustment functions available in combination with MR Configurator2

2 ADJUSTMENT PROCEDURE

Yes

(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 fluctuation

Is 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

Resonance suppression

function

Is the adjustment

satisfactory?

End

Adjust the servo amplifier with the following procedure.

No. Instructions

(1) Change [Pr. PA08.0 Gain adjustment mode selection] to "0".

(2) This mode can adjust the servo amplifier without driving the servo motor.

(3) Change the mode to the load to motor inertia ratio monitor mode if the adjustment result of the quick tuning has no problem.

2 ADJUSTMENT PROCEDURE

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 43 2 gain adjustment mode 1

Adjust the servo amplifier with this mode when not executing the interpolation control.

Page 12 Quick tuning

No. Instructions

(4) To start the one-touch tuning, push the "Start" button for one-touch tuning on the engineering tool during the positioning operation.

Use this adjustment if the conditions for the quick tuning are not fulfilled. A higher response level than that of the quick tuning can be obtained, enabling a quicker positioning. Page 16 One-touch tuning

(5) Set [Pr. PA08.0 Gain adjustment mode selection] to "1" or "2".

Page 37 Auto tuning mode 1

(6) [Pr. PA08.0 Gain adjustment mode selection] is automatically set to "4" (2 gain adjustment mode 2) once the one-touch tuning is complete.

Page 16 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 45 Manual mode

2 ADJUSTMENT PROCEDURE

3 ADJUSTMENT METHOD

3.1 Quick tuning

To use quick tuning, set [Pr. PA08.0 Gain adjustment mode selection] to "5". When the SON is on, the servo amplifier adjusts

the gain. The characteristic of quick tuning is shown as follows:

• Effective when to reduce the overshoot rather than to shorten the settling time because of the ability to reduce the

overshoot regardless of the machine type or the load size

• Adjustment available without the positioning operation

Restrictions on quick tuning

Quick tuning is not available in the following situations:

• During one-touch tuning

• In torque control

• 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 becomes in the servo-on state after

turning on the servo-on command gets 300 ms longer at a maximum.

• 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 in quick tuning exceeds the set value in [Pr. PA34 Quick tuning - Permissible travel distance], the

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

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 5: Quick tuning mode 6: Load to motor inertia ratio monitor mode

PA08.4 Quick tuning - Load to motor

inertia ratio setting

PA08.5 Quick tuning - Execution selection Set when to execute quick tuning. The initial value is "0".

PA34 Quick tuning - Permissible travel

distance

Execute one-touch tuning with the following procedures.

Select the load to motor inertia ratio of the equipment. The initial value is "0". 0: A load to motor inertia ratio of 30 times or less 1: A load to motor inertia ratio of 100 times or less

0: At the initial servo-on after cycling the power (Execute quick tuning at the initial servo-on after turning on the power) 1: At every servo-on (Execute quick tuning every time the SON is turned on.)

Set the permissible travel distance in quick tuning. If the travel distance in quick tuning exceeds the setting value, the quick tuning error occurs. When "0" is set, the permissible travel distance of quick tuning is 1.0 rev (10 mm when using a linear servo motor). Setting range: 0 to 100

■When executing quick tuning at the initial servo-on after turning on the power

1. Switch to the servo-off status.

2. Set "5" (quick tuning) to [Pr. PA08.0].

3. Set "0" (at the initial servo-on after cycling the power) to [Pr. PA08.5].

4. Check the load to motor inertia ratio.

• When the load to motor inertia ratio is 30 times or less

Set "0" (a load to motor inertia ratio of 30 times or less) to [Pr. PA08.4].

• When the load to motor inertia ratio is over 30 times and 100 times or less, or unknown

Set "1" (a load to motor inertia ratio of 100 times or less) to [Pr. PA08.4].

5. Set the permissible travel distance for quick tuning with [Pr. PA34].

6. Switch to the servo-on status to adjust servo parameters automatically.

Quick tuning will be executed at every initial servo-on after turning on the power thereafter.

7. Set "6" (load to motor inertia ratio monitor mode) to [Pr. PA08.0] to retain the tuning results.

3 ADJUSTMENT METHOD

3.1 Quick tuning

■When executing quick tuning at every servo-on

1. Switch to the servo-off status.

2. Set "5" (quick tuning) to [Pr. PA08.0].

3. Set "1" (at every servo-on) to [Pr. PA08.5].

4. Check the load to motor inertia ratio.

• When the load to motor inertia ratio is 30 times or less

Set "0" (a load to motor inertia ratio of 30 times or less) to [Pr. PA08.4].

• When the load to motor inertia ratio is 100 times or less, or unknown

Set "1" (a load to motor inertia ratio of 100 times or less) to [Pr. PA08.4].

5. Set the permissible travel distance for quick tuning with [Pr. PA34].

6. Switch to the servo-on status to adjust servo parameters automatically.

Quick tuning will be executed at every servo-on thereafter.

7. Set "6" (load to motor inertia ratio monitor mode) to [Pr. PA08.0] to retain the tuning results.

How to restore servo parameters before quick tuning

Servo parameter Name Description

PA08.6 Quick tuning - Restore selection Set whether to restore the servo parameter values before quick tuning. The initial value is "0".

0: Disabled 1: Enabled

When [Pr. PA08.6] is set to "1" (Enabled), the following servo parameters return to the values before quick tuning. If quick

tuning has never been performed after power on or software reset, setting [Pr. PA08.6] to "1" only keeps the current servo

parameters.

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

Operation of quick tuning

Start of quick tuning Gain adjustment complete

Torque

60 % of rated torque

Time

-60 % of rated torque

Speed

Time

Approx. 300 [ms]

When quick tuning is started, the servo amplifier applies vibration torque instantly, and adjusts each gain and the machine

resonance suppression filter by using the response from that excitation. Vibration torque is applied by 60 % at the maximum

of the rated torque. However, vibration torque is limited by the torque limit value when the torque limit value is less than 60 %

of the rated torque. The adjusting time is approximately 300 [ms]. When the 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. Also, the load to motor

inertia ratio will be always estimated as in the auto tuning mode 1 after the gain adjustment.

The following servo parameters are adjusted automatically in quick tuning.

No. Symbol Name Setting value after gain adjustment

PB01 FILT Adaptive tuning mode (adaptive filter II) Automatic setting

PB06 GD2 Load to motor inertia ratio The setting value is set depending on the response waveform during servo motor

driving after gain adjustment.

PB07 PG1 Model control gain Automatic setting

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

PB11 VDC Speed differential compensation Initial value

PB13 NH1 Machine resonance suppression filter 1 Automatic setting

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 Initial value

PB23.1  Low-pass filter selection 1

PB50 NH5 Machine resonance suppression filter 5 Automatic setting

PB51 NHQ5 Notch shape selection 5

PE41 EOP3 Function selection E-3 Initial value

Errors in quick tuning

When the following conditions are met, quick tuning may fail:

• When torque is reached to torque limit value during quick tuning

• When the travel distance in quick tuning exceeds the set value in [Pr. PA34 Quick tuning - Permissible travel distance]

When quick tuning fails, the servo parameters before quick tuning will be restored.

3 ADJUSTMENT METHOD

3.1 Quick tuning

3.2 One-touch tuning

Precautions

By turning on the one-touch tuning during servo motor operation, the one-touch tuning performs an adjustment in accordance

with the machine characteristic. The one-touch tuning has two methods: the user command method and the amplifier

command method.

User command method

The user command method performs the one-touch tuning by inputting commands from outside the servo amplifier. Although

it is necessary to input commands from the outside of the servo amplifier, the optimum adjustment can be made by taking both

the mechanical characteristics and the commands into accounts.

Amplifier command method

The amplifier command method generates an optimum tuning command inside a servo amplifier and performs the one-touch

tuning by simply inputting travel distance (permissible travel distance) that avoids collision with the machine during servo

motor driving. The one-touch tuning in this method can be performed easier than the user command method, and does not

require to generate commands from the outside of a servo amplifier. However, MR Configurator2 is required for performing

the one-touch tuning in the amplifier command method.

• When the following servo parameters are set in [Pr. PA08.0 Gain adjustment mode selection], [Pr. PB06 Load to motor

inertia ratio/load to motor mass ratio] is estimated at the start of one-touch tuning.

"0" (2 gain adjustment mode 1 (interpolation mode))

"1" (Auto tuning mode 1)

"2" (Auto tuning mode 2)

"4" (2 gain adjustment mode 2)

"6" (Load to motor inertia ratio monitor mode)

Restrictions on one-touch tuning

The one-touch tuning cannot be performed in the following conditions.

Common restrictions on user command method and amplifier command method

• When [Pr. PA21.0 One-touch tuning - Function selection] is "0" (disabled)

• In the torque mode

• When an alarm or a warning which disrupts the motor driving occurs

• In output signal (DO) forced output and motor-less operation

Restrictions on user command method

• The one-touch tuning in the user command method cannot be performed at servo-off.

Restrictions on amplifier command method

• The one-touch tuning in the amplifier command method cannot be started during servo motor driving.

• The one-touch tuning in the amplifier command method cannot be performed when the positioning operation, JOG

operation, program operation, and test operation mode of machine analyzer function are being carried out.

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Instructions on one-touch tuning

Instructions on amplifier command method

• Once one-touch tuning is performed, control by commands from a controller will not be available. To enable control from the

controller again, reset the controller, cycle the power of the servo amplifier, or reset software.

• Set the permissible travel distance for not to collide with a machine. In addition, the permissible travel distance may be

exceeded because of an overshoot during one-touch tuning. Therefore, set the permissible travel distance with a margin to

avoid exceeding the range of a limit switch.

• When the manual mode is selected in [Pr. PA08.0 Gain adjustment mode selection], a load to motor inertia ratio is not

estimated. Optimum acceleration/deceleration commands are generated by [Pr. PB06 Load to motor inertia ratio/load to

mass ratio] at the start of the one-touch tuning. When the load to motor inertia ratio is not accurate, optimum acceleration/

deceleration commands may not be generated, causing the tuning to fail.

• When the one-touch tuning is started by using USB communication, if the communication between MR Configurator2 and a

servo amplifier is interrupted during the tuning, both the servo motor and the tuning stop. In addition, the servo parameters

returns to the status at the start of one-touch tuning.

• When the one-touch tuning starts during the velocity mode, the mode is switched to the position mode automatically. As a

result, the tuning result may differ from the results obtained by using the speed command.

One-touch tuning procedure

Procedure for one-touch tuning in user command method by MR Configurator2

Perform the one-touch tuning with the following procedure.

1. Start

2. Overshoot permissible level setting

Set the permitted overshoot level for the one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level].

3. Operation

Rotate a servo motor by a controller. In the user command method, the one-touch tuning cannot be performed during a servo

motor stop.

4. One-touch tuning start, mode selection

On MR Configurator2, select "One-touch tuning" from the tuning tab of MR Configurator2. Select "User command method".

5. Response mode selection

Select the response mode (High mode/Basic mode/Low mode) in the one-touch tuning window of MR Configurator2.

6. One-touch tuning execution

Click “Start” during servo motor driving.

7. One-touch tuning in progress

Gains and filters are adjusted automatically. During the process of the tuning, the progress status is displayed in % on MR

Configurator2.

8. One-touch tuning complete

Once one-touch tuning is complete, the parameters will be set automatically. If tuning did not complete properly, a tuning error

will be displayed. Page 29 Servo parameters adjusted with one-touch tuning

9. Tuning result check

Check the tuning results.

When the tuning result is not satisfactory, the servo parameters can be returned to the value before the one-touch tuning or

the initial value. Page 34 Initializing one-touch tuning

10. End

3 ADJUSTMENT METHOD

3.2 One-touch tuning

■Overshoot permissible level setting

[Pr. PA14]

[Pr. PA14] × [Pr. PA25]

Position command frequency

Droop pulses

Reduced settling time

Increased overshoot

[Pr. PA14]

[Pr. PA14] × [Pr. PA25]

Position command frequency Droop pulses

Reduced overshoot

Increased settling time

Set the permitted overshoot level for the one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level]. The

one-touch tuning adjusts the settling time to the shortest within the range of the overshoot permissible level. Therefore, when

the value set in [Pr. PA25] is large, reduction of the settling time is prioritized. When the value set in [Pr. PA25] is small, then

reduction of the overshoot is prioritized.

• When the permitted overshoot level is high

• When the permitted overshoot level is low

3 ADJUSTMENT METHOD

3.2 One-touch tuning

■Operation

0 r/min

One cycle time

Forward rotation

Travel distance

Dwell time

Servo motor speed

Acceleration time constant

Deceleration

time constant

Reverse rotation

Inputting commands to the servo amplifier that satisfy the following conditions is recommended. If the one-touch tuning is

performed with commands that do not satisfy the condition are inputted to the servo amplifier, a one-touch tuning error may

occur.

Item Description

Travel distance Set 100 pulses or more in the encoder pulse unit. Setting less than 100 pulses causes the one-touch tuning error "C_04".

Servo motor speed Set 50 r/min (mm/s) or higher. Setting less than 50 r/min may cause the one-touch tuning error "C_05".

Acceleration time constant Deceleration time constant

Dwell time Set 200 ms or more. If the value is small, the one-touch tuning error "C_04" may occur.

One cycle time Set 30 s or less. Setting over 30 s causes the one-touch tuning error "C_04".

Set the time to reach 2000 r/min (mm/s) to 5 s or less. Set an acceleration time constant/deceleration time constant so that the acceleration/deceleration torque is 10 % or more of the rated torque. The estimation accuracy of the load to motor inertia ratio improves as the acceleration/deceleration torque is larger, and the one-touch tuning result is closer to the optimum value.

■Command method and response mode selection

Select the user command method in the one-touch tuning window of MR Configurator2 and then select a response mode from

three modes. If no vibration sound occurs during tuning, perform the one-touch tuning again in the high response mode.

Item Description

High mode This mode is for a high-rigid system.

Basic mode This mode is for a standard system.

Low mode This mode is for a low-rigid system.

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Refer to the following table for selecting a response mode.

Low response

High response

Response mode Responsiveness Machine characteristic

Low mode Basic mode High mode Guidelines for corresponding mode and machinery

Arm robot

General machine tool

Conveyor

Precision working

machine

Inserter

Mounter

Bonder

■One-touch tuning execution

Clicking "Start" after selecting a response mode starts the one-touch tuning in the user command method. Page 19 Command method and response mode selection

For the one-touch tuning in the user command method, clicking "Start" during a servo motor stop causes "C_02" or "C_04"

shown at the status of the error code. (Refer to the following for the error code.) Page 31 One-touch tuning error

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Procedure of one-touch tuning in the amplifier command method with MR Configurator2

Perform the one-touch tuning with the following procedure.

1. Start

2. Moving to tuning start position

Move the moving part to the center of the movable range.

3. Overshoot permissible level setting

Set the permitted overshoot level for the one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level].

4. One-touch tuning start, mode selection

On MR Configurator2, select "One-touch tuning" from the tuning tab of MR Configurator2. Select "Amplifier command

method".

5. Permissible travel distance input

In the one-touch tuning window of MR Configurator2, input a maximum travel distance to move the moving part at one-touch

tuning.

6. Response mode selection

Select the response mode (High mode/Basic mode/Low mode) in the one-touch tuning window of MR Configurator2.

7. One-touch tuning execution

Click the "Start" button to start the one-touch tuning during a servo motor stop. On starting the tuning , the servo motor

reciprocates automatically. Performing the one-touch tuning during a servo motor rotation causes an error. Once performed,

the one-touch tuning in the amplifier command method cannot be controlled by commands from the controller.

8. One-touch tuning in progress

Gains and filters are adjusted automatically. During the process of the tuning, the progress status is displayed in % on MR

Configurator2.

9. One-touch tuning complete

Once one-touch tuning is complete, the parameters will be set automatically. When the tuning is not completed normally, a

tuning error is displayed. Page 29 Servo parameters adjusted with one-touch tuning

10. Tuning result check

Check the tuning results.

When the tuning result is not satisfactory, the servo parameters can be returned to the value before the one-touch tuning or

the initial value. Refer to the following. Page 34 Initializing one-touch tuning

11. Controller reset, servo amplifier power cycling

After executing the one-touch tuning, to restore the control from the controller, reset the controller or cycle the power of the

servo amplifier.

12. End

■Overshoot permissible level setting

Refer to the following for the settings of overshoot permissible level. Page 18 Overshoot permissible level setting

3 ADJUSTMENT METHOD

3.2 One-touch tuning

■Mode selection and permissible travel distance input

Movable range

Permissible travel

distance

Permissible travel

distance

Limit switch Limit switch

Moving

part

Servo motor

Starting position

of tuning

Movable range at tuning

Select "Amplifier command method" in the one-touch tuning window of MR Configurator2. Input permissible travel distance of

the amplifier command method. For the fully closed loop control mode, input permissible travel distance in the load-side

resolution unit. For other control modes, input it in the servo motor-side resolution unit. In the amplifier command method, a

servo motor drives in a range between "current value ± permissible travel distance". Input the value of the permissible travel

distance as large as possible within a range that the movable part does not collide against the machine. Inputting a small

permissible travel distance decreases the possibility that the moving part collides against the machine. However, the

estimation accuracy of the load to motor inertia ratio may be lower, resulting in inaccurate tuning.

■Response mode selection

Refer to the following for response mode. Page 19 Command method and response mode selection

3 ADJUSTMENT METHOD

3.2 One-touch tuning

■One-touch tuning execution

0 r/min

Servo motor

speed

Travel distance

Forward rotation

Dwell time

Servo motor speed

Acceleration time

constant

Deceleration time

constant

Reverse rotation

Clicking "Start" after selecting a response mode starts the one-touch tuning in the amplifier command method. Page 19 Command method and response mode selection

In servo-off status, clicking "Start" for the one-touch tuning in the amplifier command method, servo-on is automatically

enabled and the one-touch tuning starts. For the one-touch tuning in the amplifier command method, an optimum tuning

command as follows is generated inside the servo amplifier after servo-on. Then the one-touch tuning is performed with the

servo motor reciprocating.

*1 These items are automatically generated in the servo amplifier.

Item Description

Travel distance An optimum travel distance is automatically set in the range not exceeding the user-inputted permissible travel distance

with MR Configurator2.

Servo motor speed [A]: A speed not exceeding 1/2 of the rated speed and the overspeed alarm detection level is automatically set.

[G] [WG]: A speed not exceeding 1/2 of the rated speed and the overspeed alarm detection level ([Pr. PC08]) is automatically set.

Acceleration time constant Deceleration time constant

Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.

An acceleration time constant/deceleration time constant is automatically set so as not to exceed 60 % of the rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Procedure of one-touch tuning via controller [G] [WG]

Perform the one-touch tuning with the following procedure.

1. Start

2. Overshoot permissible level setting

Set the in-position range for one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level].

3. Operation

Rotate a servo motor by a controller. The one-touch tuning via a controller cannot be performed during a servo motor stop.

4. Response mode setting, one-touch tuning execution

To perform the one-touch tuning, write the value of the response mode (High mode/Basic mode/Low mode) in [One-touch

tuning mode (Obj. 2D50h)].

5. One-touch tuning in progress

Gains and filters are adjusted automatically. During one-touch tuning, the progress is returned to [One-touch tuning Status

(Obj. 2D51h)] in %.

6. One-touch tuning complete

Check whether the one-touch tuning is completed normally with [One-touch tuning mode (Obj. 2D50h)]. Once one-touch

tuning is complete, each parameter will be set automatically. When the tuning is not completed normally, a tuning error is

returned in [One-touch tuning Error Code (Obj. 2D54h)]. Refer to the following. Page 34 Initializing one-touch tuning

7. Tuning result check

Check the tuning results.

If the tuning result is not satisfactory, the servo parameters can be returned to the value before the one-touch tuning or the

initial value with [One-touch tuning Clear (Obj. 2D53h)]. Refer to the following. Page 34 Initializing one-touch tuning

8. End

3 ADJUSTMENT METHOD

3.2 One-touch tuning

■Object registration

Index Sub Object Name Data

Type

2D50h 0 VAR One-touch tuning mode U8 rw 0 Setting "1", "2", or "3" starts one-touch

2D51h 0 VAR One-touch tuning Status I8 ro 0 Regardless of whether the one-touch tuning

2D52h 0 VAR One-touch tuning Stop U16 wo 0 Writing "1EA5h" stops one-touch tuning.

2D53h 0 VAR One-touch tuning Clear U16 wo 0 Servo parameters that were changed in the

2D54h 0 VAR One-touch tuning Error

Code

U16 ro 0 The following shows the details of the one-

Access Default Description

tuning. After one-touch tuning is completed, the setting value automatically changes to "0". 0: During one-touch tuning stop 1: Basic mode 2: High mode 3: Low mode

is properly completed or not, the setting value is 100 % at the completion. Unit: %

one-touch tuning can be restored to the original status. 0000h: Restores factory setting 0001h: Restores the value before one-touch tuning When servo parameters are restored, the setting value of the restored servo parameter is stored to the EEP-ROM.

touch tuning error codes. 0000h: Properly completed C_00h: Tuning canceled C_01h: Overshoot exceeded C_02h: Servo OFF during tuning C_03h: Control mode error C_04h: Time-out C_05h: Load to motor inertia ratio miscalculated C_06h: Servo amplifier built-in command start error C_07h: Servo amplifier built-in command generation error C_08h: Stop signal C_09h: Parameter C_0Ah: Alarm C00Fh: One-touch tuning disabled

■Overshoot permissible level setting

Refer to the following for the settings of an overshoot permissible level. Page 18 Overshoot permissible level setting

■Operation

Refer to the following for operation. Page 19 Operation

■Response mode selection

Refer to the following for response mode. Page 19 Command method and response mode selection

3 ADJUSTMENT METHOD

3.2 One-touch tuning

One touch adjustment procedure with push button [A]

Perform the one-touch tuning with the following procedure.

1. Start

2. Overshoot permissible level setting

Set the in-position range for one-touch tuning in [Pr. PA25 One-touch tuning - Permitted overshoot level].

3. Operation

Rotate a servo motor by a controller. In the user command method, the one-touch tuning cannot be performed during a servo

motor stop.

4. Switching to one-touch tuning mode

Push "MODE" during motor driving to switch to the initial screen ("AUTO.") of the one-touch tuning. While "AUTO" is being

displayed, push the "SET" button for 2 s or more to switch to the response mode selection ("AUTO.").

By pushing "MODE" and "SET" at the same time for 3 s or more, switching to the response mode selection ("AUTO.") can be

done without going through the initial display of the one-touch tuning ("AUTO").

5. Response mode selection

Push the "UP" or "DOWN" , and select either one of the response mode from "AUTO.H" (High mode), "AUTO." (Basic mode),

and "AUTO.L" (Low mode).

6. One-touch tuning execution

Push "SET" to start the one-touch tuning. Push the "SET" during servo motor driving.

7. One-touch tuning in progress

Gains and filters are adjusted automatically. During the process of tuning, the progress status is displayed in % on the display

(five-digit, seven-segment LED).

8. One-touch tuning complete

Once one-touch tuning is complete, each parameter will be set automatically. When the tuning is not completed normally, a

tuning error is displayed. Refer to the following. Page 34 Initializing one-touch tuning

9. Tuning result check

Check the tuning results.

When the tuning result is not satisfactory, the servo parameters can be returned to the value before the one-touch tuning or

the initial value. Page 34 Initializing one-touch tuning

10. End

■Overshoot permissible level setting

Refer to the following for the settings of the overshoot permissible level. Page 18 Overshoot permissible level setting

■Operation

Refer to the following for operation. Page 19 Operation

3 ADJUSTMENT METHOD

3.2 One-touch tuning

■Response mode selection

DOWN

Response mode selection display

Low mode : This mode is for a low-rigid system.

Basic mode : This mode is for a standard system.

High mode : This mode is for a high-rigid system.

Select a response mode of the one-touch tuning from three modes with the "UP" button or the "DOWN" button. Refer to the

following for guidelines of response mode. Page 19 Command method and response mode selection

■One-touch tuning execution

After the response mode is selected, pushing "SET" starts one-touch tuning. Page 19 Command method and response mode selection

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Progress display during one-touch tuning

On MR Configurator2

In servo-off status, clicking "Start" for one-touch tuning in the amplifier command method, servo-on is automatically enabled

and the one-touch tuning starts. For the one-touch tuning in the amplifier command method, an optimum tuning command is

generated inside the servo amplifier after servo-on. Then the one-touch tuning is performed with the servo motor

reciprocating. After the tuning is completed or canceled, the servo amplifier is automatically switched to the servo-off status.

When the servo-on command has been input from outside, the servo amplifier maintains the servo-on state.

During one-touch tuning, the progress status is displayed in the progress window as follows. One-touch tuning completes

when the progress reaches 100 %.

Completing the one-touch tuning starts the writing of servo parameters to the servo amplifier. Also, the following dialog is

displayed after completing the one-touch tuning. Select whether or not to reflect the tuning result in the project.

After the one-touch tuning is completed, "0000" is displayed in the status of the error code. Settling time and overshoot

amount are displayed in "Adjustment result".

3 ADJUSTMENT METHOD

3.2 One-touch tuning

On a controller [G] [WG]

One-touch tuning in progress

The progress of the one-touch tuning is represented from 0 % to 100 %. The decimal point moves right to left in rotation during the tuning. Pushing the "MODE" button during the tuning switches to the status display.

Complete

Once the one-touch tuning is complete, the auto-tuned parameters by the one-touch tuning will be written to the servo amplifier.

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 %, the one-touch tuning is completed and [One-touch tuning mode (Obj. 2D50h)] switches to "0".

With push buttons [A]

The following are displayed during the one-touch tuning.

Servo parameters adjusted with one-touch tuning

The following servo parameters are set automatically with the one-touch tuning. Moreover, [Pr. PA08.0 Gain adjustment mode

selection] is set to "4" (2 gain adjustment mode 2) automatically. Other servo parameters are set to an optimum value in

accordance with the setting of [Pr. PA09 Auto tuning response].

Servo parameter Symbol Name

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response

PA24 AOP4 Function selection A-4

PB01 FILT Adaptive tuning mode (adaptive filter II)

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

PB03 PST Position command - Acceleration/deceleration time constant (position smoothing)

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model control gain

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

PB12 OVA Overshoot amount 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

PB17 NHF Shaft resonance suppression filter

PB18 LPF Low-pass filter setting

PB19 VRF11 Vibration suppression control 1 - Vibration frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping

PB23 VFBF Low-pass filter selection

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Servo parameter Symbol Name

Stop symbol

Once the one-touch tuning mode is in progress, the one-touch tuning mode can be stopped by pushing the "SET" button regardless of what is displayed on the screen.

2 s interval

The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns with 2 s interval.

After the one-touch tuning is stopped, the servo parameters are restored to the values at the start of the one-touch tuning.

Error code

Pushing the "SET" button will switch to the initial screen.

Initial screen

When performing the one-touch tuning again, stop the servo motor once.

PB46 NH3 Machine resonance suppression filter 3

PB47 NHQ3 Notch shape selection 3

PB48 NH4 Machine resonance suppression filter 4

PB49 NHQ4 Notch shape selection 4

PB51 NHQ5 Notch shape selection 5

PB52 VRF21 Vibration suppression control 2 - Vibration frequency

PB53 VRF22 Vibration suppression control 2 - Resonance frequency

PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping

PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping

PE41 EOP3 Function selection E-3

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 the one-touch tuning is stopped, the servo parameters are restored to the values at the start of the

one-touch tuning. When performing the one-touch tuning again, stop the servo motor once. In addition, perform the one-touch

tuning after the moving part is returned to the tuning start position.

On a controller [G] [WG]

Writing "1EA5" in [One-touch tuning Stop (Obj. 2D52h)] during the one-touch tuning stops the tuning. After the one-touch

tuning is stopped, the servo parameters are restored to the values at the start of the one-touch tuning. Moreover when

performing the one-touch tuning again, stop the servo motor once.

With push buttons [A]

3 ADJUSTMENT METHOD

3.2 One-touch tuning

One-touch tuning error

On MR Configurator2

If a tuning error occurs during the tuning, the 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 the one-touch tuning after the moving part is returned to the tuning start position.

Display Name Error description Handling example

C000 Tuning canceled The "Stop" button was clicked during one-touch

C_01 Overshoot exceeded The overshoot amount is larger than the value set in

C_02 Servo OFF during tuning The one-touch tuning in the user command method

C_03 Control mode error The one-touch tuning was attempted when the

C_04 Time-out One cycle time during the operation exceeds 30 s. Set one cycle time during the operation (time from the

C_05 Load to motor inertia

ratio miscalculated

C_06 Amplifier command start

error

tuning.

[Pr. PA10 In-position range] and [Pr. PA25 Onetouch tuning - Permitted overshoot level].

was attempted during servo-off. The servo amplifier was set to the servo-off status during the one-touch tuning.

torque mode was selected in the control modes.

Control switching from the position mode to the speed mode was attempted during one-touch tuning.

The command speed is slow. Set the servo motor speed to 100 r/min (mm/s) or higher. An

The dwell time during continuous operation (stop time between commands) is short.

The estimation of the load to motor inertia ratio at the one-touch tuning has failed.

The load to motor inertia ratio cannot be estimated due to the effect of oscillation or others.

One-touch tuning was attempted to start by the amplifier command method under the following speed condition.

• Servo motor speed: 20 [r/min] or higher

• In MR-J5W-G, servo motor speed of other axes: 20 [r/min] or higher



Increase the in-position range or the overshoot permissible level.

Perform the one-touch tuning in the user command method in servo-on status. Do not turn the servo off during one-touch tuning.

Select the position mode or velocity mode for the control mode, and then perform the one-touch tuning without control switching.

command start to the next command start) to 30 s or less.

error is less likely to occur if the command speed is higher.

Set the dwell time to 200 ms or more. An error is less likely to occur as the setting time is longer.

Drive the servo motor under the following conditions:

• Time to reach 2000 r/min (mm/s) is the acceleration/ deceleration time constant of 5 s or less.

• Speed is 50 r/min (mm/s) or higher.

• The load to motor inertia ratio to the servo motor is 100 times or less.

• The acceleration/deceleration torque is 10 % or more of the rated torque.

Set [Pr. PA08.0 Gain adjustment mode selection] to "3" (manual mode), and set the correct value of load inertia moment ratio to [Pr. PB06 Load to motor inertia ratio], then execute the onetouch tuning.

Perform the one-touch tuning in the amplifier command method when the servo motor is at a stop.

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Display Name Error description Handling example

C_07 Amplifier command

generation error

C_08 Stop signal LSP and LSN were turned off during the one-touch

C_09 Parameter Servo parameter for manufacturer setting has been

C_0A Alarm The one-touch tuning in the amplifier command

C00F One-touch tuning

disabled

The one-touch tuning (amplifier command) was performed when the permissible travel distance was set to 100 [pulse] or less in the encoder pulse unit, or the servo motor speed was set to less than 50 [r/min] (for direct drive motors, less than 15 [r/min]) at the load to motor inertia ratio estimation.

The overspeed alarm detection level is set where the servo motor speed becomes 50 [r/min] or less (for direct drive motors, 15 [r/min] or less) at the time of load to motor inertia ratio estimation.

The torque limit value has been set to 0. Set the torque limit value greater than 0.

tuning of the amplifier command method. EM2 was turned off during the one-touch tuning in the amplifier command method.

changed.

method was attempted to start during an alarm or a warning occurrence. An alarm or a warning occurred during the one-touch tuning in the amplifier command method.

[Pr. PA21.0 One-touch tuning function selection] is set to "0" (disabled).

Execute one-touch tuning in the amplifier command method after setting a permissible travel distance to be 100 [pulse] or more in the encoder pulse unit, or setting the distance so that the servo motor speed to be 50 [r/min] (mm/s) or more (15 [r/ min] or more for direct drive motors) at the load to motor inertia ratio estimation. The permissible travel distance required for estimating the load to motor inertia ratio is two or more rotations as a guide value. If [Pr. PA08.0 Gain adjustment mode selection] is set to "3" (manual mode) at the start of the one-touch tuning, the load to motor inertia ratio estimation is not performed. If the servo motor speed cannot be set to 50 [r/min] (mm/s) or more (15 [r/min] or more for direct drive motors) because of the short permissible travel distance, execute one-touch tuning in the amplifier command method while auto tuning mode [Pr. PA08.0] is set to "3" (manual mode) which does not estimate the load to motor inertia ratio.

When estimating the load to motor inertia ratio, set the overspeed alarm detection level to 50 [r/min] or more (for direct drive motors, 15 [r/min] or more).

Review the start position and the permissible travel distance of the amplifier command method. After ensuring safety, turn EM2 on.

Restore the servo parameters for manufacturer setting to the initial values.

Start the one-touch tuning in the amplifier command method when no alarm or warning occurs. Prevent an alarm or a warning from occurring during one-touch tuning in the amplifier command method.

Enable [Pr. PA21.0 One-touch tuning function selection] to "1" (enabled).

The following table shows the servo parameter status after the one-touch tuning error occurred.

Error code Servo parameter after the one-touch tuning error occurrence

C0 _ _ A servo parameter is returned to the value at the start of the one-touch tuning.

C1 _ _ The following remain as the servo parameters during the one-touch tuning. Other servo parameters return to the values at

the start of the one-touch tuning.

• [Pr. PA08 Auto tuning mode (ATU)]

• [Pr. PA09 Auto tuning response (RSP)]

• [Pr. PB01 Adaptive tuning mode (adaptive filter II) (FILT)]

• [Pr. PB03 Position command acceleration/deceleration time constant (position smoothing) (PST)]

• [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio (GD2)]

• [Pr. PB08 Position control gain (PG2)]

• [Pr. PB09 Speed control gain (VG2)]

• [Pr. PB10 Speed integral compensation (VIC)]

• [Pr. PB13 Machine resonance suppression filter 1 (NH1)]

• [Pr. PB14 Notch shape selection 1 (NHQ1)]

• [Pr. PB15 Machine resonance suppression filter 2 (NH2)]

• [Pr. PB16 Notch shape selection 2 (NHQ2)]

• [Pr. PB17 Shaft resonance suppression filter (NHF)]

• [Pr. PB18 Low-pass filter setting (LPF)]

• [Pr. PB23 Low-pass filter selection (VFBF)]

• [Pr. PB46 Machine resonance suppression filter 3 (NH3)]

• [Pr. PB47 Notch shape selection 3 (NHQ3)]

• [Pr. PB48 Machine resonance suppression filter 4 (NH4)]

• [Pr. PB49 Notch shape selection 4 (NHQ4)]

• [Pr. PB51 Notch shape selection 5 (NHQ5)]

• [Pr. PE41 Function selection E-3 (EOP3)]

If the error code is C1 _ _, [Pr. PB07 Model control gain] returns to the servo parameters at the start of the one-touch tuning. If

the response from the gain after the error code C1 _ _ was outputted is not satisfactory, adjust [Pr. PB07 Model control gain]

manually.

3 ADJUSTMENT METHOD

3.2 One-touch tuning

On a controller [G] [WG]

Stop symbol

If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the stop symbol and error code (C 001 to C 10F) will be displayed by turns with 2 s interval.

2 s interval

Error code

Pushing the "SET" button will switch to the initial screen.

Initial screen

When performing the one-touch tuning again, stop the servo motor once.

If a tuning error occurs during 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. When performing the one-touch tuning again, stop the servo

motor once. In addition, perform the one-touch tuning after the moving part is returned to the tuning start position.

Refer to the following for the causes of one-touch tuning error occurrence, and the servo parameters after the error. Page 31 On MR Configurator2

With push buttons [A]

If a tuning error occurs during the tuning, the one-touch tuning is stopped. At this time, an error code is sent to the servo

amplifier. Check the cause of the tuning error. When performing the one-touch tuning again, stop the servo motor once. In

addition, perform the one-touch tuning after the moving part is returned to the tuning start position.

Refer to the following for the causes of one-touch tuning error occurrence, and the servo parameters after the error. Page 31 On MR Configurator2

*1 Refer to the following for the causes of one-touch tuning error occurrence, and the servo parameters after the error.

Page 31 On MR Configurator2

3 ADJUSTMENT METHOD

3.2 One-touch tuning

Initializing one-touch tuning

Servo parameters to be initialized

The following servo parameters will be initialized to the factory setting in initialization of one-touch tuning.

In addition, [Pr. PA08.0 Gain adjustment mode selection] will be automatically changed to "1" (Auto tuning mode 1).

Servo parameter Symbol Name Remark

PA08 ATU Auto tuning mode [Pr. PA08.0] is set to "1" (Auto tuning mode 1).

PA09 RSP Auto tuning response 

PA24 AOP4 Function selection A-4 

PB01 FILT Adaptive tuning mode (adaptive filter II) 

PB02 VRFT Vibration suppression control tuning mode 

PB03 PST Position command - Acceleration/

deceleration time constant (position smoothing)

PB06 GD2 Load to motor inertia ratio/load to motor

mass ratio

PB07 PG1 Model control gain 

PB08 PG2 Position control gain 

PB09 VG2 Speed control gain 

PB10 VIC Speed integral compensation 

PB12 OVA Overshoot amount compensation 

PB16 NHQ2 Notch shape selection 2 [Pr. PB16.0 Machine resonance suppression filter 2 selection]

PB17 NHF Shaft resonance suppression filter 

PB18 LPF Low-pass filter setting 

PB23 VFBF Low-pass filter selection 

PB47 NHQ3 Notch shape selection 3 [Pr. PB47.0 Machine resonance suppression filter 3 selection]

PB49 NHQ4 Notch shape selection 4 [Pr. PB49.0 Machine resonance suppression filter 4 selection]

PB51 NHQ5 Notch shape selection 5 [Pr. PB51.0 Machine resonance suppression filter 5 selection]

PE41 EOP3 Function selection E-3 (Robust filter

selection)



is initialized to "0".



3 ADJUSTMENT METHOD

3.2 One-touch tuning

On MR Configurator2

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to return the servo parameter to

the initial value.

Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2 enables to return the servo

parameter to the value before clicking the start button. The setting value of the returned servo parameter is stored in the non-

volatile memory.

Once initialization of one-touch tuning is complete, the following window will be displayed. (for initializing to the initial value)

On a controller [G] [WG]

Writing "0000h" to [One-touch tuning Clear (Obj. 2D53h)] enables to return the servo parameter to the initial value.

Writing "0001h" to [One-touch tuning Clear (Obj. 2D53h)] enables to return the setting value of servo parameter to the value

before one-touch tuning. The setting value of the returned servo parameter is stored in the non-volatile memory.

3 ADJUSTMENT METHOD

3.2 One-touch tuning

With push buttons [A]

DOWN

Select clear mode for initialization of one-touch tuning

Auto mode

Clear mode

Back mode

To clear the adjustment results of the one-touch tuning, push the "SET" button.

One-touch tuning clear mode is displayed (for initialization)

The one-touch tuning clear mode is in progress. The clear mode symbol blinks for 3 s.

Once the initialization is complete, the initial screen will be displayed.

Initial screen

In the clear mode, the one-touch tuning result can be rewritten to the factory setting of servo parameter. In the back mode,

the one-touch tuning result can be returned to the value before one-touch tuning. The setting value of the returned servo

parameter is stored in the non-volatile memory.

1. Switch to the initial display "AUTO" of the one-touch tuning with the "MODE".

2. Select the clear mode or back mode with the "UP" or "DOWN".

3 ADJUSTMENT METHOD

3.2 One-touch tuning

3.3 Auto tuning mode 1

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (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.

In the auto tuning mode 1, the load to motor inertia ratio of a machine is always estimated, and the optimum gain is

automatically set. This mode is the optimum method for adjustment with the response waveform being checked when the load

to motor inertia ratio of a device is unknown.

Restrictions on auto tuning mode 1

All of the following conditions should be satisfied to use auto tuning mode 1.

• The time until the acceleration/deceleration time constant reaches 2000 r/min (mm/s) is 5 s or less.

• The servo motor speed is 50 r/min (mm/s) or higher.

• The load to servo motor (mass of linear servo motor primary-side or direct drive motor) inertia ratio is 100 times or less.

• The acceleration/deceleration torque is 10 % or more of the rated torque.

The Auto tuning may not function properly under operating conditions where sudden disturbance torque is applied during

acceleration/deceleration, or in machines with low rigidity. In such cases, use the auto tuning mode 2 or the manual mode to

adjust the gain.

Instructions on auto tuning mode 1

If sudden disturbance torque is applied during operation, the load to motor inertia ratio may be miscalculated temporarily. In

such a case, set [Pr. PA08.0 Gain adjustment mode selection] to "2" (Auto tuning mode 2), and then set accurate load to

motor inertia ratio in [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio].

When the auto tuning mode 1 is changed to the manual mode, the current control gain and the load to motor inertia ratio

estimation value are saved in the non-volatile memory.

3 ADJUSTMENT METHOD

3.3 Auto tuning mode 1

Adjustment procedure by auto tuning mode 1

Yes

Auto tuning adjustment

Repeated acceleration/deceleration

Is the estimated

value of load to motor

inertia ratio stable?

Are auto tuning

conditions satisfied?

(If the conditions are not satisfied,

it is difficult to estimate

the load to motor

inertia ratio)

Set [Pr. PA08.0 Gain adjustment mode selection] to "2", and then manually set [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio].

Adjust [Pr. PA09 Auto tuning response] to achieve the desired response without vibration.

Repeated acceleration/deceleration

Is the performance satisfactory?

End

To 2 gain adjustment mode 2

Not satisfied

Satisfied

The adjustment procedure is as follows.

3 ADJUSTMENT METHOD

3.3 Auto tuning mode 1

Responsiveness setting in auto tuning mode 1

Set the response level for the entire servo system by [Pr. PA09]. As the responsiveness setting increases, the trackability to

the command improves and the settling time becomes shorter, though vibration is likely to occur. Therefore, set a value to

obtain the desired response within the vibration-free range.

If the response level cannot be increased up to the desired level because of machine resonance beyond 100 Hz, the filter

tuning mode selection in [Pr. PB01.0] or machine resonance suppression filter in [Pr. PB13] to [Pr. PB16], and [Pr. PB46] to

[Pr. PB51] can be used to suppress machine resonance. Suppressing machine resonance may allow the response level to be

increased. Refer to the following for the settings of the adaptive tuning mode and the machine resonance suppression filter.

Page 50 Machine resonance suppression filter Page 53 Adaptive filter II

3 ADJUSTMENT METHOD

3.3 Auto tuning mode 1

Low response

Middle response

High response

[Pr. PA09]

Setting value Machine characteristic

Responsiveness Guideline for machine resonance frequency [Hz]

12.7

23.6

34.9

46.6

510.0

611.3

712.7

814.3

916.1

10 18.1

11 20 .4

12 23.0

13 25.9

14 29.2

15 32.9

16 37.0

17 41.7

18 47.0

19 52.9

20 59.6

21 67.1

22 75.6

23 85.2

24 95.9

25 108.0

26 121.7

27 137.1

28 154.4

29 173.9

30 195.9

31 220.6

32 248.5

33 279.9

34 315.3

35 355.1

36 400.0

37 446.6

38 501.2

39 571.5

40 642.7

3 ADJUSTMENT METHOD

3.3 Auto tuning mode 1

Operation of auto tuning mode 1

Load moment of inertia

Automatic setting

Encoder

Control gain PG1, PG2, VG2, VIC

Command

Current

control

Servo motor

Current feedback

Position/speed feedback

Real-time auto tuning section

Load to motor

inertia ratio

estimation section

Gain table

Speed feedback

[Pr. PB06 Load to motor

inertia ratio/load to

motor mass ratio]

[Pr. PA08.0 Gain

adjustment mode

selection]

The block diagram of the auto tuning mode 1 is shown below.

When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to

motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to

motor inertia ratio/load to motor mass ratio]. These results can be confirmed on the status display screen of the MR

Configurator2.

If the value of the load to motor inertia ratio is known in advance or the estimation has failed, set [Pr. PA08.0 Gain adjustment

mode selection] to "2" (Auto tuning mode 2), and after stopping the estimation of the load inertia moment ratio, set the load to

motor inertia ratio ([Pr. PB06]) manually.

The auto tuning results are saved in the non-volatile memory of the servo amplifier every 10 minutes since power-on. At

power-on, the auto tuning is performed with the value of each control gain saved in the non-volatile memory as an initial value.

The servo parameters that are automatically adjusted in the auto tuning mode 1 are shown in the table below.

Servo parameter Symbol Name

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model control gain

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

3.4 Auto tuning mode 2

Use the auto tuning mode 2 when normal gain adjustment cannot be made by the 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 by the auto tuning mode 1 cannot be executed properly.

Precautions on auto tuning mode 2

When the auto tuning mode 2 is changed to the manual mode, the current control gains and load to motor inertia ratio

estimation value are saved in the non-volatile memory.

Adjustment procedure by auto tuning mode 2

Refer to the following. Page 38 Adjustment procedure by auto tuning mode 1

3 ADJUSTMENT METHOD

3.4 Auto tuning mode 2

Responsiveness setting in auto tuning mode 2

Load moment of inertia

Automatic setting

Encoder

Control gain PG1, PG2, VG2, VIC

Command

Current

control

Servo motor

Current feedback

Position/speed feedback

Real-time auto tuning section

Gain table

[Pr. PB06 Load to

motor inertia ratio/load

to motor mass ratio]

[Pr. PA08.0 Gain adjustment mode

selection]

Refer to the following. Page 39 Responsiveness setting in auto tuning mode 1

Operation of auto tuning mode 2

The block diagram of the auto tuning mode 2 is shown below.

In the auto tuning mode 2, from the value set for the load inertia moment ratio ([Pr. PB06]) and the responsiveness ([Pr.

PA09]), and based on the internal gain table, the optimum control gain is automatically set.

The auto tuning results are saved in the non-volatile memory of the servo amplifier every 10 minutes since power-on. At

power-on, the auto tuning is performed with the value of each control gain saved in the non-volatile memory as an initial value.

The servo parameters that are automatically adjusted in the auto tuning mode 2 are shown in the table below.

Servo parameter Symbol Name

PB07 PG1 Model control gain

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

3 ADJUSTMENT METHOD

3.4 Auto tuning mode 2

3.5 2 gain adjustment mode 1

Precautions

Position command frequency [pulse/s]

Number of droop pulses [pulse] =

Model control gain setting value

Servo motor speed [r/min]

Position command frequency = × Encoder resolution (number of pulses per servo motor revolution)

Use the 2 gain adjustment mode to match the position control gains of each axes when performing the interpolation operation

of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model control gain that

determines command trackability. Other servo parameters are set automatically.

For the 2 gain adjustment mode 1, manually set the model control gain that determines command trackability. The mode

constantly estimates the load to motor inertia ratio, and automatically set other servo parameters for optimum gains, in

accordance with the responsiveness of auto tuning.

Adjustment procedure of 2 gain adjustment mode 1

• Set the same value in [Pr. PB07 Model control gain] for the axis used in 2 gain adjustment mode 1 and 2.

Procedure Operation Description

1 Set to the auto tuning mode. Select the auto tuning mode 1.

2 During operation, increase the setting value of auto tuning response ([Pr.

PA09]) and return the setting if vibration occurs.

3 Check the value of the model control gain ([Pr. PB07]) and the load to motor

inertia ratio ([Pr. PB06]).

4 Set [Pr. PA08.0 Gain adjustment mode selection] to "0" (2 gain adjustment

mode 1).

5 When the load to motor inertia ratio is different from the design value, set

[Pr. PA08.0 Gain adjustment mode selection] to "4" (2 gain adjustment mode 2), then afterwards set the load to motor inertia ratio ([Pr. PB06]).

6 Set the model control gain of all the axes to be interpolated to the same

value. At that time, adjust the model loop gain ([Pr. PB07]) to the setting value of the smallest axis.

7 During operation, increase the setting value of the auto tuning response

([Pr. PA09]), and return the setting if vibration occurs.

8 As the interpolation characteristics and the rotation status are visually

examined, increase the model loop gain ([Pr. PB07]), and return if an overshoot occurs.

Adjustment by the auto tuning mode 1

Check the upper setting limits.

Select the 2 gain adjustment mode 1 (interpolation mode).

Check the load to motor inertia ratio

Set the model control gain.

Adjusting servo stability

Adjusting position trackability

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.

Position command frequency differs depending on the operation mode.

■Rotary servo motor and direct drive motor:

■Linear servo motor:

Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)

3 ADJUSTMENT METHOD

3.5 2 gain adjustment mode 1

Operation of 2 gain adjustment mode 1

Precautions

The block diagram of the 2 gain adjustment mode 1 is the same as that of the auto tuning mode 1. Servo parameters adjusted

automatically differ depending on the mode.

The following servo parameters are adjusted automatically with auto tuning in the 2 gain adjustment mode 1.

Servo parameter Symbol Name

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

3.6 2 gain adjustment mode 2

Use the 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 the 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. PB06]. Once one-touch tuning is complete, [Pr. PA08.0

Gain adjustment mode selection] will be automatically set to "4" (2 gain adjustment mode 2).

Adjustment procedure of 2 gain adjustment mode 2

• Set the same value in [Pr. PB07 Model control gain] for the axis used in 2 gain adjustment mode 1 and 2.

Procedure Operation Description

1 Set load to motor inertia ratio ([Pr. PB06]). Check the load to motor inertia ratio

2 Set the model control gain ([Pr. PB07]) of all the axes to be interpolated to

the same value. At that time, adjust the model loop gain ([Pr. PB07]) to the setting value of the smallest axis.

3 During operation, increase the setting value of the auto tuning response

([Pr. PA09]), and return the setting if vibration occurs.

4 As the interpolation characteristics and the rotation status are visually

examined, increase the model loop gain ([Pr. PB07]), and return if an overshoot occurs.

Set the model control gain.

Adjusting servo stability

Adjusting position trackability

Operation of 2 gain adjustment mode 2

The block diagram of the 2 gain adjustment mode 2 is the same as that of the auto tuning mode 2. Servo parameters adjusted

automatically differ depending on the mode.

The following servo parameters are adjusted automatically by the 2 gain adjustment mode 2.

Servo parameter Symbol Name

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

Refer to the following for the servo parameter adjustment method of [Pr. PB07 Model control gain].

Page 45 Adjustment procedure of velocity mode Page 47 Adjustment procedure of position mode

3 ADJUSTMENT METHOD

3.6 2 gain adjustment mode 2

3.7 Manual mode

Precautions

Command

Servo motor speed

Time

Command

Servo motor speed

Time

When the auto tuning result is not satisfactory, manual adjustment with all of the gain can be performed.

• 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 50 Machine resonance suppression filter Page 53 Adaptive filter II

Adjustment procedure of velocity mode

Servo parameter

The following servo parameters are used for gain adjustment.

Servo parameter Symbol Name

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

For the effect of each servo parameter, refer to the following diagram.

Explanation on servo parameter Effect when increasing the responsiveness Operating status when increase in

responsiveness is excessive

[Pr. PB07 Model control gain] This servo parameter determines the responsiveness. Increasing the value improves trackability to a position command, but the servo motor speed is likely to be higher than the command.

Command

[Pr. PB09 Speed control gain] This servo parameter determines the responsiveness of the speed control loop. Increasing the value improves the responsiveness to the load disturbance, but the mechanical vibration is likely to occur.

Command

Servo motor speed

Occurrence of vibration and unusual noise (high frequency)

Servo motor speed

Time

3 ADJUSTMENT METHOD

3.7 Manual mode

Explanation on servo parameter Effect when increasing the responsiveness Operating status when increase in

Command

Servo motor speed

Time

Occurrence of vibration and unusual noise (low frequency)

Command

Servo motor speed

Time

Speed control gain

Model control gain guideline =

(1 + Load to motor inertia ratio)

Speed control gain

Speed loop response frequency [Hz] =

(1 + Load to motor inertia ratio) × 2π

responsiveness is excessive

[Pr. PB10 Speed integral compensation] This servo parameter determines the time constant for proportional integral control of speed control loop. Decreasing the value improves the responsiveness. If the moment of inertia ratio is large or the mechanical system contains vibratory element, the mechanical system is liable to vibrate unless the value is increased to some degree.

Adjustment procedure

Procedure Operation Description

1 Perform approximate adjustment with the auto tuning. Refer to the following.

Page 37 Auto tuning mode 1 The control gain obtained by the auto tuning is the reference value.

2 Change [Pr. PA08.0 Gain adjustment mode selection] to "3" (Manual mode). 

3 Set an estimated value in the load to motor inertia ratio/load to motor mass ratio. (If the estimated

value by auto tuning is correct, setting change is not required.)

4 Set a small value to the model control gain.

Set a large value to the speed integral compensation.

5 Increase the speed control gain within the range where vibration or unusual noise is not generated,

and return slightly if vibration occurs.

6 Decrease the speed integral compensation within the vibration-free range. If vibration occurs,

increase the value until the vibration stops.

7 Increase the model control gain, and return slightly if an overshoot occurs. Increase the model control gain.

8 If the desired responsiveness cannot be achieved because of mechanical system resonance, or

the like which stops the gains to be increased, suppressing the resonance by the adaptive tuning mode or the machine resonance suppression filter, followed by steps 3 to 7 may increase the responsiveness.

9 While checking the motor status, fine-adjust each gain. Fine adjustment



Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

Suppression of machine resonance Refer to the following. Page 50 Machine resonance suppression filter Page 53 Adaptive filter II

Servo parameter adjustment method

■ [Pr. PB07 Model control gain]

As a guide, this servo parameter can be calculated with the following formula.

■[Pr. PB09 Speed control gain]

The actual response frequency of the speed loop can be calculated with the following formula.

When adjusting [Pr. PB09 Speed control gain], increase the value gradually. Increasing the setting value causes vibration and

resonance. At this time, check the value of [Pr. PB09 Speed control gain]. 70 % to 80 % of the value at which vibration and

resonance occurred should be set as the limit value of [Pr. PB09 Speed control gain] in consideration of such as variations

and margins between devices.

3.7 Manual mode

3 ADJUSTMENT METHOD

■[Pr. PB10 Speed integral compensation]

Speed integral compensation setting value [ms]

2000 to 3000

≥

Speed control gain/(1 + Load to motor inertia ratio)

Droop pulses

Command

Time

Effect on reducing the settling time

Droop pulses

Command

Time

Effect on reducing the settling time

Droop pulses

Command

Time

Effect on reducing the settling time

As a guide, this servo parameter can be calculated with the following formula.

If the setting value is less than the calculated value, vibration may occur.

Adjustment procedure of position mode

Servo parameter

The following servo parameters are used for gain adjustment.

Servo parameter Symbol Name

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model control gain

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

For the effect of each servo parameter, refer to the following diagram.

Explanation on servo parameter Effect when increasing the responsiveness Operating status when increase in

responsiveness is excessive

[Pr. PB07 Model control gain] This servo parameter determines the responsiveness. Increasing the value improves trackability to a position command, but an overshoot is likely to occur.

Command

Droop pulses

[Pr. PB08 Position control gain] This parameter is set for increasing the position response to load disturbance. Increasing the value improves the responsiveness, but vibration and noise are likely to occur.

Occurrence of overshoot

Time

Droop pulses

Command

Time

Occurrence of vibration and unusual noise (low frequency)

Droop pulses

Command

Time

Occurrence of vibration and unusual noise (high frequency)

3 ADJUSTMENT METHOD

3.7 Manual mode

Explanation on servo parameter Effect when increasing the responsiveness Operating status when increase in

Droop pulses

Command

Droop pulses

Time

Effect on overshoot

Speed control gain

Model control gain guideline =

(1 + Load to motor inertia ratio)

Position command frequency [pulse/s]

Number of droop pulses [pulse] =

Model control gain setting value

Servo motor speed [r/min]

Position command frequency = × Encoder resolution (number of pulses per servo motor revolution)

responsiveness is excessive

Command

Droop pulses

Occurrence of vibration and unusual noise (low frequency)

Adjustment procedure

Procedure Operation Description

1 Perform approximate adjustment with the auto tuning. Refer to the following.

Page 37 Auto tuning mode 1 The control gain obtained by the auto tuning is the reference value.

2 Change [Pr. PA08.0 Gain adjustment mode selection] to "3" (Manual mode). 

3 Set an estimated value in the load to motor inertia ratio/load to motor mass ratio. (If the estimated

value by auto tuning is correct, setting change is not required.)

4 Set a small value to the model control gain and the position control gain. Set a large value to the

speed integral compensation.

5 Increase the speed control gain within the range where vibration or unusual noise is not generated,

and return slightly if vibration occurs.

6 Decrease the speed integral compensation within the vibration-free range. If vibration occurs,

increase the value until the vibration stops.

7 Increase the position control gain, and return slightly if vibration occurs. Increase the position control gain.

8 Increase the model control gain, and return slightly if an overshoot occurs. Increase the model control gain.

9 If the desired responsiveness cannot be achieved because of mechanical system resonance, or

the like which stops the gains to be increased, suppressing the resonance by the adaptive tuning mode or the machine resonance suppression filter, followed by steps 3 to 8 may increase the responsiveness.

10 While checking the settling characteristic and the motor status, fine-adjust each gain. Fine adjustment



Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

Suppression of machine resonance Refer to the following. Page 50 Machine resonance suppression filter Page 53 Adaptive filter II

Time

Servo parameter adjustment method

■[Pr. PB07 Model control gain]

As a guide, this servo parameter can be calculated with the following formula.

Number of droop pulses at the constant speed can be calculated with the following expression.

Position command frequency differs depending on the operation mode.

• Rotary servo motor and direct drive motor:

• Linear servo motor:

Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)

3 ADJUSTMENT METHOD

3.7 Manual mode

■[Pr. PB08 Position control gain]

Speed control gain

Position control gain guideline =

(1 + Load to motor inertia ratio)

Speed control gain

Speed loop response frequency [Hz] =

(1 + Load to motor inertia ratio) × 2π

Speed integral compensation setting value [ms]

2000 to 3000

≥

Speed control gain/(1 + Load to motor inertia ratio)

As a guide, this servo parameter can be calculated with the following formula.

■[Pr. PB09 Speed control gain]

The actual response frequency of the speed loop can be calculated with the following formula.

When adjusting [Pr. PB09 Speed control gain], increase the value gradually. Increasing the setting value causes vibration and

resonance. At this time, check the value of [Pr. PB09 Speed control gain]. 70 % to 80 % of the value at which vibration and

resonance occurred should be set as the limit value of [Pr. PB09 Speed control gain] in consideration of such as variations

and margins between devices.

■[Pr. PB10 Speed integral compensation]

As a guide, this servo parameter can be calculated with the following formula.

If the setting value is less than the calculated value, vibration may occur. If the droop pulses vibrate during a stop, increasing

the value in [Pr. PB10 Speed integral compensation] is effective.

3.8 Load to motor inertia ratio monitor mode

The servo amplifier has a function which estimates the machine characteristic (load to motor inertia ratio) in real time. This

mode does not change the set gains, but estimates the load to motor inertia ratio.

Precautions on load to motor inertia ratio monitor mode

• Only estimation of the load to motor inertia ratio is executed by this mode. Therefore, the estimated load to motor inertia

ratio is not used in controlling by the servo amplifier, and the responsiveness decreases in comparison with the same

setting in the manual mode.

Adjustment procedure of load to motor inertia ratio monitor mode

• This mode enables manual adjustment by all the gains. However, use the gains adjusted by quick tuning as a standard.

Refer to the adjustment procedure of the manual mode when adjusting the gains with this mode.

Page 48 Adjustment procedure

Operation of load to motor inertia ratio monitor mode

• The operation of the load to motor inertia ratio estimation by this mode is the same as that of the auto tuning mode 1.

The servo parameter that is automatically adjusted in this mode is shown in the table below.

Servo parameter Symbol Name

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

3 ADJUSTMENT METHOD

3.8 Load to motor inertia ratio monitor mode

4 VIBRATION SUPPRESSION FUNCTION

Precautions

PWM

[Pr. PB48]

[Pr. PB50]

[Pr. PB17]

[Pr. PB49]

[Pr. PE41]

[Pr. PB46]

[Pr. PB23] [Pr. PB47]

[Pr. PB18] [Pr. PB13] [Pr. PB15]

Machine

resonance

suppression

filter 3

[Pr. PB23.3] = "0" or [Pr. PB47.0] = "1"

Speed control

Command pulse train

Command

notch filter

Advanced

vibration

suppression

control 2

Low-pass

filter setting

Machine

resonance

suppression

filter 1

Machine

resonance

suppression

filter 2

[Pr. PB23.3] = "1" and [Pr. PB47.0] = "0"

Shaft

resonance

suppression

filter 2

Load

Machine

resonance

suppression

filter 5

Machine

resonance

suppression

filter 4

Encoder

Robust filter

Shaft

resonance

suppression

filter

Servo motor

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.

4.1 Filter setting

The following filters are available with MR-J5 Servo amplifiers.

4.2 Machine resonance suppression filter

If a mechanical system has a unique resonance point, increasing the servo system response level may cause resonance

(vibration or unusual noise) in the mechanical system at that resonance frequency. 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 and the setting range is between 10 Hz

and 9000 Hz.

Filter Servo parameter Servo parameter that is

reset with the vibration tough drive function

Machine resonance suppression filter 1

Machine resonance suppression filter 2

Machine resonance suppression filter 3

Machine resonance suppression filter 4

Machine resonance suppression filter 5

PB01/PB13/PB14 PB01/PB13 PB01/PB13/PB14 PB01/PB13/PB14

PB15/PB16 PB15/PB16 PB15/PB16 PB15/PB16

PB46/PB47  PB47 

PB48/PB49  PB48/PB49 

PB50/PB51  PB51 PB50/PB51

Servo parameter automatically adjusted with one-touch tuning

Servo parameter automatically adjusted with quick tuning

• If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower. The optimum notch

frequency is set at the point where vibration is minimal.

• By using the machine analyzer in MR Configurator2 to understand the mechanical characteristics, the frequency and

characteristics of the notch can be determined.

4 VIBRATION SUPPRESSION FUNCTION

4.1 Filter setting

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

• The machine resonance suppression filter is a delay factor for the servo system. Therefore, the vibration increases if an

incorrect resonance frequency is set or the notch characteristics are too deep or too wide.

• A deeper notch has a higher effect on the machine resonance suppression but increases the phase delay, and this may

cause a higher vibration.

• A wider notch has a higher effect on the machine resonance suppression, but increases the phase delay and vibration.

Machine resonance suppression filter setting method

Set the machine resonance suppression filter with the servo parameters shown below.

Item Servo parameter Remark

Enable/Disable Notch frequency Notch depth, notch width

Machine resonance suppression filter 1

Machine resonance suppression filter 2

Machine resonance suppression filter 3

Machine resonance suppression filter 4

Machine resonance suppression filter 5

[Pr. PB01.0 Filter tuning mode selection]

[Pr. PB16.0 Machine resonance suppression filter 2 selection]

[Pr. PB47.0 Machine resonance suppression filter 3 selection]

[Pr. PB49.0 Machine resonance suppression filter 4 selection]

[Pr. PB51.0 Machine resonance suppression filter 5 selection]

[Pr. PB13 Machine resonance suppression filter 1]

[Pr. PB15 Machine resonance suppression filter 2]

[Pr. PB46 Machine resonance suppression filter 3]

[Pr. PB48 Machine resonance suppression filter 4]

[Pr. PB50 Machine resonance suppression filter 5]

[Pr. PB14.1 Notch depth selection 1] [Pr. PB14.2 Notch width selection 1]

[Pr. PB16.1 Notch depth selection 2] [Pr. PB16.2 Notch width selection 2]

[Pr. PB47.1 Notch depth selection 3] [Pr. PB47.2 Notch width selection 3]

[Pr. PB49.1 Notch depth selection 4] [Pr. PB49.2 Notch width selection 4]

[Pr. PB51.1 Notch depth selection 5] [Pr. PB51.2 Notch width selection 5]



The shaft resonance suppression filter 2 cannot be set when the machine resonance suppression filter 3 is enabled.

The shaft resonance suppression filter cannot be set when the machine resonance suppression filter 4 is enabled.

The machine resonance suppression filter 5 cannot be used when the robust filter is enabled ([Pr. PE41.0 Robust filter selection] is set to "1" (enabled)).

4 VIBRATION SUPPRESSION FUNCTION

4.2 Machine resonance suppression filter

Operation of machine resonance suppression filter

Responsiveness of

mechanical system

Machine resonance point

Frequency

Notch characteristics

Notch width

Notch depth

Frequency

Notch frequency

-5

-10

-15

-20

-25

-30

-35

-40

-45

Notch depth: Slightly shallow (-4 [dB])

Notch depth: Shallow (-8 [dB])

Notch depth: Slightly deep (-14 [dB])

Notch depth: Deep (-40 [dB])

Notch frequency

-5

-10

-15

-20

-25

-30

-35

-40

-45

Notch width: Standard (α = 2)

Notch width: Slightly wide (α = 3)

Notch width: Wide (α = 4)

Notch width: Wide (α = 5)

Notch frequency

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.

With the notch depth and width selections, the characteristics of the machine resonance suppression filter changes as

follows.

4 VIBRATION SUPPRESSION FUNCTION

4.2 Machine resonance suppression filter

4.3 Adaptive filter II

Precautions

Response of

mechanical system

Machine resonance point

Frequency

Notch depth

Frequency

Notch frequency

Response of

mechanical system

Machine resonance point

Frequency

Notch depth

Frequency

Notch frequency

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. When the mechanical characteristics are unknown even at mechanical resonance occurrence, the use of the

adaptive tuning is recommended.

• When machine resonance is large and frequency is low

• When machine resonance is small and frequency is high

• The machine resonance frequency which adaptive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As

• When adaptive tuning is executed, machine resonance is detected for a maximum of 10 s and a filter is generated. After

• Adaptive tuning generates an optimum filter with the currently set control gain. If vibration occurs when the response setting

• Adaptive tuning generates a filter with an optimum notch depth for the set control gain. To allow a wider range of the

• Adaptive tuning is ineffective on a mechanical system with complex resonance characteristics.

Restrictions on adaptive tuning

Adaptive tuning cannot be used while quick tuning is in progress.

Precautions for adaptive filter II

• When the adaptive tuning is executed, vibration sound increases as the vibration signal is forcibly added for several

• In the high-accuracy mode, the frequency is estimated more accurately than in the standard mode, but the sound during

for the resonance frequency out of the range, set adaptive filter II manually.

filter generation, the adaptive tuning mode automatically shifts to the manual setting.

is increased, execute adaptive tuning again.

resonance frequency for filtering, increase the notch depth in the manual setting.

seconds.

adjustment is larger.

4 VIBRATION SUPPRESSION FUNCTION

4.3 Adaptive filter II

How to set adaptive filter II

Yes

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 the high accuracy mode. (Set "1" (high accuracy) to [Pr. PB01.3 Tuning accuracy selection] and set "1" (automatic setting) to [Pr. PB01.0 Filter tuning mode selection].)

Execute or re-execute adaptive tuning in the standard mode. (Set "0" (standard) to [Pr. PB01.3 Tuning accuracy selection] and set "1" (automatic setting) to [Pr. PB01.0 Filter tuning mode selection].)

Tuning will end after a certain period of time. ([Pr. PB01.0 Filter tuning mode selection] becomes "2" or "0".)

If the vibration frequency cannot be estimated when tuning is executed during strong vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute tuning again.

Has work-side/load-side vibration

been resolved?

Cause of vibration The response level has been reached to the machine limit. The machine is too complicated to provide the optimum filter.

Decrease the response level until vibration or unusual noise is resolved.

Set the filter manually using the machine analyzer.

Decrease the response level until vibration or unusual noise is resolved.

End

Select the filter tuning setting method of [Pr. PB01 Adaptive tuning mode (adaptive filter II)].

• [Pr. PB01.0 Filter tuning mode selection]

Setting value

0 Disabled 

1 Automatic setting PB13/PB14

2 Manual setting 

Filter tuning mode selection Automatically set servo parameter

• [Pr. PB01.3 Tuning accuracy selection]

0: Standard

1: High accuracy

Adaptive tuning procedure

4 VIBRATION SUPPRESSION FUNCTION

4.3 Adaptive filter II

4.4 Shaft resonance suppression filter

Precautions

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 the 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.

• It is recommended that [Pr. PB23.0 Shaft resonance suppression filter selection] and [Pr. PB23.3 Shaft resonance

suppression filter selection 2] be set to (automatic setting) "0" and "1" respectively, as deterioration in performance may

occur if there are changes in the setup of [Pr. PB23.0 Shaft resonance suppression filter selection], [Pr. PB23.3 Shaft

resonance suppression filter 2 selection], and [Pr. PB17.0-1 Shaft resonance suppression filter frequency selection].

Shaft resonance suppression filter restrictions

The shaft resonance suppression filter cannot be set when the machine resonance suppression filter 4 is enabled.

The shaft resonance suppression filter 2 cannot be set when the machine resonance suppression filter 3 is enabled.

Shaft resonance suppression filter setting method

Set [Pr. PB23.0 Shaft resonance suppression filter selection].

Servo parameter Description

PB23.0 Shaft resonance suppression filter selection

0: Automatic setting 1: Manual setting 2: Disable

PB23.3 Shaft resonance suppression filter 2 selection

0: Disabled 1: Automatic setting

When [Pr. PB23.0] is set to "0" (automatic setting), [Pr. PB17.0-1] will be set automatically.

When [Pr. PB23.0] is set to "1" (manual setting), [Pr. PB17.0-1] can be set manually. The setting values are as follows.

Setting value Frequency [Hz]

00 Disabled

01 Disabled

02 4500

03 3000

04 2250

05 1800

06 1500

07 1285

08 1125

09 1000

0A 900

0B 818

0C 750

0D 692

0E 642

0F 600

10 562

11 529

12 500

13 473

14 450

15 428

4 VIBRATION SUPPRESSION FUNCTION

4.4 Shaft resonance suppression filter

Setting value Frequency [Hz]

16 409

17 391

18 375

19 360

1A 346

1B 333

1C 321

1D 310

1E 300

1F 290

20 Disable

21 Disable

22 Disable

23 Disable

24 Disable

25 Disable

26 Disable

27 Disable

28 4500

29 4000

2A 3600

2B 3272

2C 3000

2D 2769

2E 2571

2F 2400

30 2250

31 2117

32 2000

33 1894

34 1800

35 1714

36 1636

37 1565

38 1500

39 1440

3A 1384

3B 1333

3C 1285

3D 1241

3E 1200

3F 1161

40 1125

41 1090

42 1058

43 1028

44 1000

45 972

46 947

47 923

49 878

4A 857

900

4 VIBRATION SUPPRESSION FUNCTION

4.4 Shaft resonance suppression filter

Setting value Frequency [Hz]

4B 837

4C 818

4D 800

4E 782

4F 765

50 750

51 734

52 720

53 705

54 692

55 679

56 666

57 654

58 642

59 631

5A 620

5B 610

5C 600

5D 590

5E 580

5F 571

60 562

61 553

62 545

63 537

64 529

65 521

66 514

67 507

68 500

69 493

6A 486

6B 480

6C 473

6D 467

6E 461

6F 455

70 450

71 444

72 439

73 433

74 428

75 423

76 418

77 413

78 409

79 404

7A 400

7B 395

7C 391

7E 382

7F 378

387

4 VIBRATION SUPPRESSION FUNCTION

4.4 Shaft resonance suppression filter

Setting value Frequency [Hz]

80 375

81 371

82 367

83 363

84 360

85 356

86 352

87 349

88 346

89 342

8A 339

8B 336

8C 333

8D 330

8E 327

8F 324

90 321

91 318

92 315

93 313

94 310

95 307

96 305

97 302

98 300

99 297

9A 295

9B 292

9C 290

9D 288

9E 285

9F 283

4 VIBRATION SUPPRESSION FUNCTION

4.4 Shaft resonance suppression filter

4.5 Low-pass filter

Filter frequency ([rad/s]) = × 10

VG2

1 + GD2

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. To increase the responsiveness, set the filter frequency of the low-pass filter manually.

Low-pass filter setting method

Set [Pr. PB23.1 Low-pass filter selection]. When [Pr. PB23.1 Low-pass filter selection] is set to "1" (manual setting), the filter

frequency can be set through [Pr. PB18 Low-pass filter setting].

Servo parameter Description

PB23.1 Low-pass filter selection

0: Automatic setting 1: Manual setting 2: Disable

Operation of low-pass filter

When [Pr. PB23.1 Low-pass filter selection] is set to "0" (automatic setting), the filter frequency is automatically adjusted to the

value of the following equation.

4.6 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 achieved by

gradually reducing the torque of the wide frequency range. When the load to motor inertia ratio of a machine is 10 times or

more, use this filter to more increase the response level of the machine.

Robust filter restrictions

Enabling the robust filter disables the machine resonance suppression filter 5.

Robust filter setting method

Set [Pr. PE41.0 Robust filter selection]. The characteristics of the robust filter are calculated automatically from the servo

parameter.

Servo parameter Description

PE41.0 Robust filter selection

0: Disable 1: Enable

4 VIBRATION SUPPRESSION FUNCTION

4.5 Low-pass filter

4.7 Advanced vibration suppression control II

Precautions

Position

Servo motor side Servo motor side

Load side

Vibration suppression control OFF (normal control) Vibration suppression control ON

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 inside the servo amplifier and

performing positioning.

Executing advanced vibration suppression control II estimates the load side vibration frequency automatically, and suppress

load side vibration up to a maximum of two different frequencies. When the vibration suppression control tuning mode is set

as "Automatic setting", the mode shifts to the "Manual setting" after the positioning operation is performed the predetermined

number of times. When the mode is set to the "Manual setting", vibration suppression control 1 can be adjusted with [Pr.

PB19] to [Pr. PB22], and vibration suppression control 2 can be adjusted with [Pr. PB52] to [Pr. PB55].

• The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0 Hz to 100.0 Hz. As for

the vibration out of the range, set advanced vibration suppression control II manually.

• Vibration suppression control tuning sets the optimum servo parameter with the currently set control gain. When the

response setting is increased, set vibration suppression control tuning again.

4 VIBRATION SUPPRESSION FUNCTION

4.7 Advanced vibration suppression control II

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] to "1" (3 inertia

mode).

• The value of [Pr. PB07 Model control gain], vibration frequency, and resonance frequency have the following usable range

and recommended range. Calculate it from one of the following two tables.

When calculating the setting value of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] by using [Pr. PB07]

This example shows a case where [Pr. PB 19] < [Pr. PB 52].

Vibration suppressio n control

Vibration suppression control 1

Vibration suppression control 2

Usable range Recommended setting range

[Pr. PB19] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52] [Pr. PB52] > (5.0 + 0.1 × [Pr. PB07]) [Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])

1.1 < [Pr. PB52]/[Pr. PB19] < 5.5 [Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])

[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07]) [Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])

When [Pr. PB19] < [Pr. PB52] [Pr. PB52], [Pr. PB53] > 6.25 Hz

1.1 < [Pr. PB52]/[Pr. PB19] < 4 [Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])

When calculating the setting value of [Pr. PB07] by using [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53]

This example shows a case where [Pr. PB 19] < [Pr. PB 52].

Vibration suppressio n control

Vibration suppression control 1

Vibration suppression control 2

The calculation example is shown in the following table.

Vibration suppression control

Vibration suppression control 1

Vibration suppression control 2

Usable range Recommended setting range

Range that meets all of the following conditions [Pr. PB07] < 2π × [Pr. PB19]/0.9 [Pr. PB07] < 2π × [Pr. PB20]/0.9

• When [Pr. PB19] < [Pr. PB52] Range that meets all of the following conditions [Pr. PB07] < ([Pr. PB52] – 5.0) × 10 [Pr. PB07] < ([Pr. PB53] – 5.0) × 10

1.1 < [Pr. PB52]/[Pr. PB19] < 5.5 [Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])

• When [Pr. PB52] ≤ [Pr. PB19] Range that meets all of the following conditions [Pr. PB07] < ([Pr. PB19] – 5.0) × 10 [Pr. PB07] < ([Pr. PB20] – 5.0) × 10

1.1 < [Pr. PB19]/[Pr. PB52] < 5.5 [Pr. PB07] < 2π (0.3 × [Pr. PB52] + 1/8 × [Pr. PB19])

Range that meets all of the following conditions [Pr. PB07] < 2π × [Pr. PB19]/1.5 [Pr. PB07] < 2π × [Pr. PB20]/1.5

• When [Pr. PB19] < [Pr. PB52] Range that meets all of the following conditions [Pr. PB52], [Pr. PB53] > 6.25 Hz

1.1 < [Pr. PB52]/[Pr. PB19] < 4 [Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])

• When [Pr. PB52] ≤ [Pr. PB19] Range that meets all of the following conditions [Pr. PB19], [Pr. PB20] > 6.25 Hz

1.1 < [Pr. PB19]/[Pr. PB52] < 4 [Pr. PB07] < 1/3 × (4 × [Pr. PB52] + 2 × [Pr. PB19])

Servo parameter setting example Usable range Recommended setting range

No. Value

[Pr. PB19] [Pr. PB20]

[Pr. PB19] [Pr. PB20] [Pr. PB52] [Pr. PB53]

20 20

20 20 30 30

[Pr. PB07] < 139.6 [Pr. PB07] < 83.7

[Pr. PB07] < 61.26 [Pr. PB07] < 46.44

• When [Pr. PB25.0 Model adaptive control selection] is set to "2" (Disabled), the vibration suppression control cannot be

used.

4 VIBRATION SUPPRESSION FUNCTION

4.7 Advanced vibration suppression control II

Advanced vibration suppression control precautions

• When changing the servo parameters related to the vibration suppression control, stop the servo motor first. Otherwise, it

will cause an unexpected movement of the servo motor or the other part in the system.

• Vibration suppression control tuning is unable to be estimated normally if the residual vibration at the servo motor side is

small.

Advanced vibration suppression control setting method

Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)]. When using one

vibration suppression control, set [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection] to "1" (automatic

setting). When using two vibration suppression controls, set [Pr. PA24 Vibration suppression mode] to "1" (3 inertia mode),

[Pr. PB02.0] to "1" (automatic setting), and [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection] to "1"

(automatic setting).

Set [Pr. PA24] to "1" (3 inertia mode), [Pr. PB02.0] to "1" (automatic setting), and [Pr. PB02.1] to "1" (automatic setting) as a

standard. If using one vibration suppression control is assessed to be optimal inside the servo amplifier, only vibration

suppression control 1 or vibration suppression control 2 automatically becomes enabled.

• [Pr. PB02.0 Vibration suppression control 1 - Tuning mode selection]

Setting value

0 Disabled 

1 Automatic setting PB19/PB20/PB21/PB22

2 Manual setting 

Vibration suppression control 1 - Tuning mode selection Automatically set servo parameter

• [Pr. PB02.1 Vibration suppression control 2 - Tuning mode selection]

Setting value

0 Disabled 

1 Automatic setting PB52/PB53/PB54/PB55

2 Manual setting 

Vibration suppression control 2 - Tuning mode selection Automatically set servo parameter

Advanced vibration suppression control adjustment method

• When load-side vibration is not transferred to the servo motor-side, setting the servo motor-side vibration

frequency is not effective. In addition, vibration suppression control tuning may fail to accurately set the

vibration frequency automatically.

• When the anti-resonance frequency and resonance frequency can be checked using the machine analyzer

or external equipment, set different values (do not set the same value) to improve the vibration suppression

performance.

The following is a flowchart of vibration suppression control 1. When using Vibration suppression control 2, set [Pr. PB02.1

Vibration suppression control 2 tuning mode] to "1" (automatic setting), and execute Vibration suppression control tuning.

4 VIBRATION SUPPRESSION FUNCTION

4.7 Advanced vibration suppression control II

Vibration suppression control tuning

Operation

Yes

Is the performance satisfactory?

Increase the response level.

Has work-side/load-side

vibration increased?

Yes

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.

Tuning ends automatically after positioning operation is performed the predetermined number of times. ([Pr. PB02.0] becomes "2" (manual setting) or "0" (disabled).)

Has work-side/load-side vibration

been resolved?

Decrease the response level until work-side/load-side vibration is resolved.

Set the vibration suppression control manually from the vibration waveform of the machine analyzer or load side.

End

Yes

Cause of vibration The load-side vibration frequency cannot be estimated because the load-side vibration has not been transmitted to the servo motor side. The model control gain value has been reached to the response level of the load-side vibration frequency (vibration suppression control limit).

When adjusting the vibration suppression control manually based on the result of the machine analyzer or the vibration

waveform of the load side, set the following parameters. Set the following servo parameters to meet the applicable and

recommended range. Refer to the following. Page 61 Advanced vibration suppression control restrictions

Setting item Vibration suppression control 1 Vibration suppression control 2

Vibration suppression control - Vibration frequency [Pr. PB19] [Pr. PB52]

Vibration suppression control - Resonance frequency [Pr. PB20] [Pr. PB53]

Vibration suppression control - Vibration frequency damping [Pr. PB21] [Pr. PB54]

Vibration suppression control - Resonance frequency damping [Pr. PB22] [Pr. PB55]

4 VIBRATION SUPPRESSION FUNCTION

4.7 Advanced vibration suppression control II

The servo parameters are set using the following procedure.

1 Hz

-90 degrees

300 Hz

Vibration suppression control 2 -

Vibration frequency

(anti-resonance frequency)

[Pr. PB52]

Vibration suppression control 2 -

Resonance frequency

[Pr. PB53]

Gain characteristics

Resonance of 300 Hz or more is not the target of control.

Vibration suppression control 1 -

Resonance frequency

[Pr. PB20]

Vibration suppression control 1 -

Vibration frequency

(anti-resonance frequency)

[Pr. PB19]

Phase

t t

Servo motor-side vibration (droop pulses)

External acceleration pickup signal or others

Position command frequency

Vibration cycle [Hz] Vibration cycle [Hz]

Vibration suppression control -

Vibration frequency

Vibration suppression control -

Resonance frequency

Set the same value.

1. 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].

2. Set "Vibration suppression control for vibration suppression control" and "Resonance frequency for vibration suppression

control" as follows.

• When a vibration peak can be checked with machine analyzer, using MR Configurator2 or external measuring equipment

If the frequency characteristic of the machine can be measured using MR Configurator2 or external equipment, set the

frequency trough of the gain characteristic to the vibration frequency setting, and the frequency crest as the resonance

frequency setting.

• When vibration can be confirmed using a monitor signal or an external sensor

If the time waveform of a monitor and an external sensor can be measured, measure the droop pulses, and set the droop

pulse vibration cycle of the settling time as the vibration and resonance frequency.

4 VIBRATION SUPPRESSION FUNCTION

4.7 Advanced vibration suppression control II

3. Set "Vibration suppression control - Vibration frequency damping setting" and "Vibration suppression control -

Servo motor-side vibration (droop pulses)

Position command frequency

Servo motor-side vibration (droop pulses)

Position command frequency

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. If the amplitude of the droop pulses are decreasing quickly, increase the

damping setting. By setting the damping setting appropriately, the effect of vibration suppression is enhanced.

• If the amplitude of the droop pulses is sustained

• If the amplitude of the droop pulses are decreasing quickly

4 VIBRATION SUPPRESSION FUNCTION

4.7 Advanced vibration suppression control II

4.8 Command notch filter

Precautions

Position

Load side

Position

Load side

A command notch filter is a filter function that lowers a gain of the 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.

• When command notch filter is disabled

• When command notch filter is enabled

The command notch filter has a longer settling time than that of advanced vibration suppression control II, but can easily

suppress vibration. Advanced vibration suppression control II and command notch filter characteristics are shown in the

following table.

Function Command notch filter Advanced vibration suppression

control II

Servo parameter [Pr. PB45] [Pr. PB01]

[Pr. PB19] [Pr. PB20] [Pr. PB21] [Pr. PB22] [Pr. PB52] [Pr. PB53] [Pr. PB54] [Pr. PB55]

Automatic estimation × ○

Restrictions on [Pr. PB07 Model control gain] × ○

• Using advanced vibration suppression control II and the command notch filter can suppress the load-side vibration of three

different frequencies.

• The frequency of machine vibration that can be supported by the command notch filter is specifically between 1.12 Hz and

2000 Hz. Set a frequency close to the machine vibration frequency and within the range.

• When [Pr. PB45 Command notch filter] is changed during the positioning operation, the changed setting is not reflected.

The setting value is reflected after waiting for the following time once the servo motor stops (after servo-lock).

Setting frequency for command notch filter before the change Waiting time for reflection of the change after servo-lock

4.5 Hz or more Approx. 150 ms

1.12 Hz or more to less than 4.5 Hz Approx. 500 ms

4 VIBRATION SUPPRESSION FUNCTION

4.8 Command notch filter

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 62 Advanced vibration suppression control adjustment method

• [Pr. PB45.0-1 Command notch filter setting frequency selection]

Setting value Frequency [Hz]

00 Disabled

01 2000

02 1000

03 666

04 500

06 400

07 333

08 285

09 250

0A 222

0B 200

0C 181

0D 166

0F 153

10 142

11 133

12 125

13 117

14 111

15 105

16 100

17 95

19 90

1A 86

1B 83

1C 80

1D 76

1E 74

1F 71

21 66

22 62

23 58

24 55

25 52

26 50

27 47

29 45

2A 43

2B 41

2C 40

2D 38

2E 37

2F 35

30 34.5

31 33.3

4 VIBRATION SUPPRESSION FUNCTION

4.8 Command notch filter

Setting value Frequency [Hz]

32 31.3

33 29.4

34 27.8

35 26.3

36 25.0

38 23.8

39 22.7

3A 21.7

3B 20.8

3C 20.0

3D 19.2

3E 18.5

3F 17.9

40 17.2

41 16.7

42 15.6

43 14.7

44 13.9

45 13.2

46 12.5

48 11. 9

49 11. 4

4A 10.9

4B 10.4

4C 10

4D 9.6

4E 9.3

4F 8.9

50 8.6

51 8.3

52 7.8

53 7.4

54 6.9

55 6.6

56 6.3

58 6.0

59 5.7

5A 5.4

5B 5.2

5C 5.0

5D 4.8

5E 4.6

5F 4.5

60 4.31

61 4.17

62 3.91

63 3.68

64 3.47

65 3.29

66 3.13

69 2.84

6A 2.72

2.98

4 VIBRATION SUPPRESSION FUNCTION

4.8 Command notch filter

Setting value Frequency [Hz]

6B 2.60

6C 2.50

6D 2.40

6E 2.31

6F 2.23

71 2.08

72 1.95

73 1.84

74 1.74

75 1.64

76 1.56

78 1.49

79 1.42

7A 1.36

7B 1.30

7C 1.25

7D 1.20

7E 1.16

7F 1.12

• [Pr. PB45.2 Notch depth selection]

Setting value Depth [dB]

0 -40.0

1 -24.1

2 -18.1

3 -14.5

4 -12.0

5 -10.1

6 -8.5

7 -7.2

8 -6.0

9 -5.0

A -4.1

B -3.3

C -2.5

D -1.8

E -1.2

F -0.6

4 VIBRATION SUPPRESSION FUNCTION

4.8 Command notch filter

4.9 Vibration tough drive

Vibration tough drive function is a function to instantaneously reset 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. When continuing operation is required

even with an aging machine, the use of this function is recommended.

Vibration tough drive restrictions

The vibration tough drive function does not detect a vibration of 100 Hz or less.

Vibration tough drive can be used in the following cases.

When [Pr. PA20.1 Vibration tough drive selection] is set to "1" (Machine resonance suppression filter change mode)

• When machine resonance suppression filter 1 is manually set, and the detected machine resonance frequency is within the

±30 % range of the set value for [Pr. PB13 Machine resonance suppression filter 1]

• When machine resonance suppression filter 2 is enabled, and the detected machine resonance frequency is within the ±30

% range of the set value for [Pr. PB15 Machine resonance suppression filter 2]

When [Pr. PA20.1 Vibration tough drive selection] is set to "2" (Machine resonance suppression filter automatic setting mode)

• When [Pr. PB01.0 Filter tuning mode selection] is set to "0" (disabled), and machine resonance suppression filter 1 has

been disabled

• When [Pr. PB16.0 Machine resonance suppression filter 2 selection] is set to "0" (disabled), and machine resonance

suppression filter 2 has been disabled

• When machine resonance suppression filter 1 is manually set, and the detected machine resonance frequency is within the

±30 % range of the set value for [Pr. PB13 Machine resonance suppression filter 1]

• When machine resonance suppression filter 2 is enabled, and the detected machine resonance frequency is within the ±30

% range of the set value for [Pr. PB15 Machine resonance suppression filter 2]

Vibration tough drive precautions

• Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is performed constantly. However, the number of

write times to the non-volatile memory is limited to once per five minutes.

• In vibration tough drive function, [Pr. PB46 Machine resonance suppression filter 3], [Pr. PB48 Machine resonance

suppression filter 4], and [Pr. PB50 Machine resonance suppression filter 5] are not reset.

Vibration tough drive setting method

Setting [Pr. PA20.1 Vibration tough drive selection] to "1" (Machine resonance suppression filter change mode) or "2"

(Machine resonance suppression filter automatic setting mode) causes [Pr. PB13 Machine resonance suppression filter 1]

and [Pr. PB15 Machine resonance suppression filter 1] to be automatically set when the oscillation level set in [Pr. PF23

Vibration tough drive oscillation detection level] is exceeded. This will suppress the vibration of the equipment.

Servo parameter Description

PA20.1 Vibration tough drive selection

0: Disabled 1: Machine resonance suppression filter change mode 2: Machine resonance suppression filter automatic setting mode When using the vibration tough drive, it is recommended to use "2" (Machine resonance suppression filter automatic setting mode). When compatibility with MR-J4 is required, use "1" (machine resonance suppression filter change mode).

4 VIBRATION SUPPRESSION FUNCTION

4.9 Vibration tough drive

Operation of vibration tough drive

PWM

[Pr. PB48]

[Pr. PB50]

[Pr. PB17]

[Pr. PB49]

[Pr. PE41]

[Pr. PB46]

[Pr. PB23] [Pr. PB47]

[Pr. PB18] [Pr. PB13] [Pr. PB15]

The servo parameters are updated according to the table above.

Vibration tough drive

Machine

resonance

suppression

filter 3

[Pr. PB23.3] = "0" or [Pr. PB47.0] = "1"

Speed control

Command pulse train

Command

notch filter

Advanced

vibration

suppression

control 2

Low-pass

filter setting

Machine

resonance

suppression

filter 1

Machine

resonance

suppression

filter 2

[Pr. PB23.3] = "1" and [Pr. PB47.0] = "0"

Shaft

resonance

suppression

filter 2

Load

Machine

resonance

suppression

filter 5

Machine

resonance

suppression

filter 4

Encoder

Robust filter

Shaft

resonance

suppression

filter

Servo motor

The function block diagram of the vibration tough drive function is indicated. When the oscillation level exceeds the level set in

[Pr. PF23 Vibration tough drive oscillation detection level], set [Pr. PB13 Machine resonance suppression filter 1] and [Pr.

PB15 Machine resonance suppression filter 2] depending on the detected machine resonance frequency and the machine

resonance suppression filter being used. At this time, [AL. 0F0 Tough drive warning] is outputted for 5 s, and the number of

tough drive operations is incremented once.

[Pr. PA20.1] Machine

resonance suppression filter 1

1 Disabled Disabled The vibration tough drive does not operate.

Enabled Disabled [Pr. PB13 Machine resonance suppression filter 1]

Disabled Enabled [Pr. PB15 Machine resonance suppression filter 2]

Enabled Enabled The detected machine resonance frequency are compared with the setting values of [Pr.

2 Disabled Disabled [Pr. PB13 Machine resonance suppression filter 1]

Enabled Disabled If the oscillation cannot be suppressed even when [Pr. PB15 Machine resonance

Disabled Enabled If the oscillation cannot be suppressed even when [Pr. PB13 Machine resonance

Enabled Enabled The detected machine resonance frequency are compared with the setting values of [Pr.

Machine resonance suppression filter 2

Servo parameter that is set with the vibration tough drive function

PB13] and [Pr. PB15], and then the setting value closest to the detected machine resonance frequency is reset. If the detected machine resonance frequency is the center value of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2], reset [Pr. PB13 Machine resonance suppression filter 1].

suppression filter 2] is set, set [Pr. PB13 Machine resonance suppression filter 1] again.

suppression filter 1] is set, reset [Pr. PB15 mechanical resonance suppression filter 2].

4 VIBRATION SUPPRESSION FUNCTION

4.9 Vibration tough drive

The timing chart of the vibration tough drive is shown as follows:

5 s

OFF

[Pr. PF23 Vibration tough drive - Vibrating detection level]

Torque

The machine resonance is detected and the filter is automatically configured. ALM (Malfunction)

WNG (Warning)

MTTR (During tough drive) is not turned on in the vibration tough drive function. MTTR

(During tough drive)

4 VIBRATION SUPPRESSION FUNCTION

4.9 Vibration tough drive

5 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:

• Increasing the gain during the servo-lock is required, but decreasing the gains is also needed to suppress drive noise

during rotation.

• Increasing the gains during settling is needed in order to shorten the stop settling time.

• Since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is placed on a carrier), switch the gains

using a control command from an input device or a controller to ensure the stability of the servo system.

5.1 Restrictions on gain switching [G] [WG]

• 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 with the input device (CDP) or the Bit 4 (C_CDP) of [Control DI 1 (Obj. 2D01h)].

• Gain switching 2 vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain

switching 2 - Model control gain] can be used with the input device (CDP2) or with the Bit 4 (C_CDP2) of [Control DI5 (Obj.

2D05h)].

• Gain switching is enabled in the position mode when the direction command is selected for gain switching and gain

switching during a stop is enabled.

• Slight vibration suppression control does not allow switching of the load to motor inertia ratio/load to motor mass ratio, the

model control gain, the position control gain, the speed control gain, and the speed integral compensation.

5.2 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 with the input device (CDP).

• Gain switching 2 vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain

switching 2 - Model control gain] can be used with the input device (CDP2).

• Gain switching is enabled in the position mode when the direction command is selected for gain switching and gain

switching during a stop is enabled.

• Slight vibration suppression control does not allow switching of the load to motor inertia ratio/load to motor mass ratio, the

model control gain, the position control gain, the speed control gain, and the speed integral compensation.

5.3 Precautions on gain switching [G] [WG]

• If the gain difference is large at gain switching, and the value in [Pr. PB28 Gain switching time constant] is small, the

machine may operate unexpectedly at gain switching. In this case, increase the value in [Pr. PB28 Gain switching time

constant].

• When the conditions for "Gain switching" and "Gain switching 2" are established at the same time, the servo parameters

after gain switching 2 are set as the actual gain to be used.

5 GAIN SWITCHING FUNCTION

5.1 Restrictions on gain switching [G] [WG]

5.4 Precautions on gain switching [A]

• If the gain difference is large at gain switching, and the value in [Pr. PB28 Gain switching time constant] is small, the

machine may operate unexpectedly at gain switching. In this case, increase the value in [Pr. PB28 Gain switching time

constant].

• When the conditions for "Gain switching" and "Gain switching 2" are established at the same time, the servo parameters

after "Gain switching 2" are set as the actual gain to be used.

5.5 Setting method for gain switching

When using the gain switching, set the parameters as follows.

Servo parameters for setting the gain switching condition

Servo parameter Symbol Name Unit Description

PB26 CDP Gain switching function  Select the switching condition.

PB27 CDL Gain switching condition [kpulse/s]/

[pulse]/ [r/min]

PB28 CDT Gain switching time constant [ms] Set the filter time constant for the original gain to be switched to the

PB65 CDL2 Gain switching 2 condition [kpulse/s]/

[pulse]/ [r/min]

PB66 CDT2 Gain switching 2 time constant [ms] Set the filter time constant for the gain to be switched to the gain for

Set the condition values to switch the original gain to the gain for "Gain switching".

gain for "Gain switching".

Set the condition values to switch the gain to the gain for "Gain switching 2". The setting value is to be larger than in [Pr. PB27 Gain switching condition]. When this setting value is "0", the gain is not switched to the gain for "Gain switching 2".

"Gain switching 2".

5 GAIN SWITCHING FUNCTION

5.4 Precautions on gain switching [A]

[Pr. PB26 Gain switching function]

Set the conditions for gain switching. Select the switching condition from the first to fifth digits.

Servo parameter Description

PB26.0 Gain switching selection

PB26.1 Gain switching condition selection

PB26.2 Gain switching time constant disabling condition selection

PB26.4 Gain switching 2 selection

PB26.5 Gain switching selection during a stop

0: Disabled 1: Signal (CDP/C_CDP) 2: Command frequency 3: Droop pulses 4: Servo motor speed 5: Command direction

0: Gain after "Gain switching" is enabled with the value of the gain switching condition or more 1: Gain after "Gain switching" is enabled when the value of the gain switching condition or less For the combination of [Pr. PB26.0] and [Pr. PB26.1], refer to the following. Page 75 Combination of [Pr. PB26.0] and [Pr. PB26.1]

0: Switching time constant enabled 1: Time constant at switching enabled 2: Return time constant disabled

When switching the gain to the gain for gain switching 2, input signals with the control command (C_CDP2) from the controller and with the input device CDP2 (gain switching 2). 0: Disabled 1: Signal (CDP2/C_CDP2) 2: Same condition as [Pr. PB26.0 Gain switching selection]

0: Gain switching 2 during a stop is disabled 1: Gain switching 2 during a stop is enabled This servo parameter is enabled when [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]). In addition, this function is enabled in the position mode.

*1 Input the signals with the control command (C_CDP) and the input device CDP (Gain switching) from the controller.

■Combination of [Pr. PB26.0] and [Pr. PB26.1]

[Pr. PB26.1 Gain switching Condition selection]

0 Gain after "Gain switching" is enabled

1 Gain after "Gain switching" is enabled

[Pr. PB26.0 Gain switching selection]

1 2 3 4 5

Gain after "Gain switching" is enabled with the

with the signal ON

with the signal OFF

condition value or more for gain switching

Gain after "Gain switching" is enabled with the condition value or less for gain switching

Gain after "Gain switching" is enabled with the negative direction command

Gain after "Gain switching" is enabled with the positive direction command

[Pr. PB27 Gain switching condition] and [Pr. PB66 Gain switching 2 condition]

When "2" (Command frequency), "3" (Droop pulses), or "4" (Servo motor speed) is selected in [Pr. PB26.0 Gain switching

selection], set [Pr. PB27] for the level to switch the gain to "Gain switching".

In addition, when "2" (the same condition as [Pr. PB26.0]) is selected in [Pr. PB26.4 Gain switching 2 selection], set the level

for switching the gain to "Gain switching 2" in [Pr. PB66].

The setting unit is shown in the following table.

Gain switching condition Unit

Command frequency [kpulse/s]

Droop pulses [pulse]

Servo motor speed [r/min]

5 GAIN SWITCHING FUNCTION

5.5 Setting method for gain switching

[Pr. PB28 Gain switching time constant], [Pr. PB66 Gain switching 2 time constant]

The primary delay filter can be set to each gain in gain switching. If the gain difference is large in gain switching, use these

parameters for such as suppressing shock given to the machine.

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 to motor mass ratio

Model control gain PB07 PG1 PB60 PG1B PB79 PG1C

Position control gain PB08 PG2 PB30 PG2B PB68 PG2C

Speed control gain PB09 VG2 PB31 VG2B PB69 VG2C

Speed integral compensation PB10 VIC PB32 VICB PB70 VICC

Vibration suppression control 1 Vibration frequency

Vibration suppression control 1 Resonance frequency

Vibration suppression control 1 Vibration frequency damping

Vibration suppression control 1 Resonance frequency damping

Vibration suppression control 2 Vibration frequency

Vibration suppression control 2 Resonance frequency

Vibration suppression control 2 Vibration frequency damping

Vibration suppression control 2 Resonance frequency damping

PB06 GD2 PB29 GD2B PB67 GD2C

PB19 VRF11 PB33 VRF1B PB71 VRF1C

PB20 VRF12 PB34 VRF2B PB72 VRF2C

PB21 VRF13 PB35 VRF3B PB73 VRF3C

PB22 VRF14 PB36 VRF4B PB74 VRF4C

PB52 VRF21 PB56 VRF21B PB75 VRF21C

PB53 VRF22 PB57 VRF22B PB76 VRF22C

PB54 VRF23 PB58 VRF23B PB77 VRF23C

PB55 VRF24 PB59 VRF24B PB78 VRF24C

[Pr. PB06] to [Pr. PB10]

These servo parameters are the same as in the ordinary manual adjustment. Switching the gains enables the values to be

switched in load to motor inertia ratio, position control gain, model control gain, speed control gain, and speed integral

compensation.

[Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]

These servo parameters are the same as in the ordinary manual adjustment. During a servo motor stop, by switching the gain

with on/off of the input device (CDP) or the control command from the controller, the values are enabled to be switched in the

vibration frequency, resonance frequency, vibration frequency damping setting, and resonance frequency damping setting.

[Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching], [Pr. PB67 Load to motor inertia ratio/load to motor mass ratio after gain switching]

Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not change, set the same value as

[Pr. PB06 Load to motor inertia ratio].

[Pr. PB30 Position control gain after gain switching], [Pr. PB68 Gain switching 2 Position control gain]

Set the position control gain after gain switching.

[Pr. PB31 Speed control gain after gain switching], [Pr. PB69 Gain switching 2 - Speed control gain]

Set the speed control gain after gain switching.

5 GAIN SWITCHING FUNCTION

5.5 Setting method for gain switching

[Pr. PB32 Speed integral compensation after gain switching], [Pr. PB70 Gain switching 2 - Speed integral compensation]

Set the speed integral compensation after gain switching.

[Pr. PB60 Model control gain after gain switching], [Pr. PB79 Gain switching 2 - Model control gain]

The Model control gain after gain switching and the Gain switching 2 - Model control gain can be used only with on/off of the

input device (CDP) and the control command from the controller.

Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]), and Gain switching 2 - Vibration suppression control ([Pr. PB71] to [Pr. PB79])

Vibration suppression control after gain switching and Gain switching 2 - Vibration suppression control are enabled only with

on/off of the input device (CDP) and the control command from the controller.

Related objects [G] [WG]

Objects in gain switching and gain switching 2

When switching gains with the control command of the controller, the gain switching is enabled by using [Control DI1 (Obj.

2D01)] and [Control DI5 (Obj. 2D05h)]. In addition, by using [Status DO1 (Obj. 2D11)] and [Status DO5 (Obj. 2D15)] the

variable gain status can be obtained.

Index Sub Object Name Data Type Access Default Description

2D01h 0 VAR Control DI1 U16 rw 0 Objects defined by Mitsubishi Electric

Bit 4: C_CDP (Gain switching)

2D05h 0 VAR Control DI5 U16 rw 0 Objects defined by Mitsubishi Electric

Bit 4: C_CDP2 (Gain switching 2)

2D11h 0 VAR Status DO1 U16 r0 0 Objects defined by Mitsubishi Electric

Bit 4: S_CDP (During gain switching)

2D15h 0 VAR Status DO5 U16 ro 0 Objects defined by Mitsubishi Electric

Bit 4: S_CDP2 (During gain switching 2)

5 GAIN SWITCHING FUNCTION

5.5 Setting method for gain switching

5.6 Examples of gain switching operation

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → [Pr. PB29] → [Pr. PB06]

→ [Pr. PB08] → [Pr. PB30]

→ [Pr. PB08]

→ [Pr. PB09] → [Pr. PB31] → [Pr. PB09]

→ [Pr. PB10]

→ [Pr. PB32]

→ [Pr. PB10]

CDL

CDL2

0 r/min

-CDL

-CDL2

63.2 %

CDT

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

63.2 %

CDT2

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

Servo motor speed

Gain after gain switching 2 Gain after gain switching 2

Gain after gain switchingGain after gain switching

Gain before gain switching Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

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]).

When [Pr. PB26.1 Gain switching condition selection] is set to "0" (Enables the gain after gain switching when the value set in the conditions for gain switching is reached)

Depending on the values in [Pr. PB27 Gain switching condition] and [Pr. PB65 Gain switching 2 condition], the gain will switch

as follows.

■When [Pr. PB65] ≥ [Pr. PB27]

For the case of [Pr. PB65] ≥ [Pr. PB27], the gain switches to "Gain after gain switching" when the absolute value of the servo

motor speed exceeds the value of [Pr. PB27]. In addition, when the absolute value of the servo motor speed exceeds the

value of [Pr. PB65], the gain switches to "Gain after switching 2".

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

■When [Pr. PB65] is set to "0"

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → [Pr. PB29] → [Pr. PB06]

→ [Pr. PB08] → [Pr. PB30]

→ [Pr. PB08]

→ [Pr. PB09] → [Pr. PB31] → [Pr. PB09]

→ [Pr. PB10]

→ [Pr. PB32]

→ [Pr. PB10]

CDL

0 r/min

-CDL

63.2 %

CDT

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

Servo motor speed

Gain after gain switching Gain after gain switching

Gain before gain switching Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → → [Pr. PB06]

→ [Pr. PB08] →

→ [Pr. PB08]

→ [Pr. PB09] → → [Pr. PB09]

→ [Pr. PB10]

→

→ [Pr. PB10]

CDL2

CDL

0 r/min

-CDL2

-CDL

[Pr. PB67]

[Pr. PB68]

[Pr. PB69]

[Pr. PB70]

[Pr. PB67]

[Pr. PB68]

[Pr. PB69]

[Pr. PB70]

→

63.2 %

CDT2

Servo motor speed

Gain after gain switching 2 Gain after gain switching 2

Gain before gain switching Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

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.

■When [Pr. PB65] < [Pr. PB27]

For the case of [Pr. PB65] < [Pr. PB27], the gain does not switch to "Gain after gain switching". When the absolute value of the

servo motor speed exceeds the value of [Pr. PB65], the gain switches to "Gain after gain switching 2". However, the gain does

not switch to "Gain after gain switching" even when the absolute value exceeds the value of [Pr. PB27].

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

When [Pr. PB26.1 Gain switching condition selection] is set to "1" (Enables the gain

[Pr. PB67]

[Pr. PB68]

[Pr. PB69]

[Pr. PB70]

→ [Pr. PB06]

→ [Pr. PB29] → [Pr. PB06]

→ [Pr. PB08]

→ [Pr. PB30]

→ [Pr. PB08]

→ [Pr. PB09]

→ [Pr. PB31] → [Pr. PB09]

→ [Pr. PB10]

→ [Pr. PB32]

→ [Pr. PB10]

CDL2

CDL

0 r/min

-CDL2

-CDL

63.2 %

CDT2

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

63.2 %

CDT

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

Servo motor speed

Gain after gain switching 2 Gain after gain switching 2

Gain after gain switching Gain after gain switching

Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

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.

■When [Pr. PB65] ≤ [Pr. PB27]

For the case of [Pr. PB65] ≤ [Pr. PB27], the gain switches to "Gain after gain switching 2" when the absolute value of the servo

motor speed is less than the value of [Pr. PB65]. In addition, when the absolute value of the servo motor speed exceeds the

value of [Pr. PB65] and less than the value of [Pr. PB27], the gain switches to "Gain after gain switching". When the absolute

value of the servo motor speed is equal to or more than the value of [Pr. PB27], "Gain before gain switching" is used.

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

■When [Pr. PB65] is set to "0"

[Pr. PB29]

[Pr. PB30]

[Pr. PB31]

[Pr. PB32]

→ [Pr. PB29] → [Pr. PB06] → [Pr. PB29]

→ [Pr. PB30] → [Pr. PB08]

→ [Pr. PB30]

→ [Pr. PB31] → [Pr. PB09] → [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB10]

→ [Pr. PB32]

→ [Pr. PB06]

→ [Pr. PB08]

→ [Pr. PB09]

→ [Pr. PB10]

CDL

0 r/min

-CDL

63.2 %

CDT

Servo motor speed

Gain after gain switchingGain after gain switching

Gain before gain switchingGain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

[Pr. PB67]

[Pr. PB68]

[Pr. PB69]

[Pr. PB70]

→ [Pr. PB06]

→ [Pr. PB08]

→ [Pr. PB09]

→ [Pr. PB10]

CDL

CDL2

0 r/min

-CDL

63.2 %

-CDL2

CDT2

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

Servo motor speed

Gain after gain switching 2Gain after gain switching 2

Gain before gain switchingGain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

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".

■When [Pr. PB65] > [Pr. PB27]

For the case of [Pr. PB65] > [Pr. PB27], the gain does not switch to "Gain after gain switching". When the absolute value of the

servo motor speed is less than the value of [Pr. PB65], the gain switches to "Gain after gain switching 2". However, the gain

does not switch to "Gain after gain switching" even when the absolute value is less than the value of [Pr. PB27].

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

Gain switching by signals (CDP/C_CDP/CDP2/C_CDP2)

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → → [Pr. PB06]

→ [Pr. PB08] →

→ [Pr. PB08]

→ [Pr. PB09] → → [Pr. PB09]

→ [Pr. PB10]

→

→ [Pr. PB10]

63.2 %

CDT

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

63.2 %

CDT2

[Pr. PB67]

[Pr. PB68]

[Pr. PB07]

→ [Pr. PB07] →

→ [Pr. PB07]→ [Pr. PB60] → [Pr. PB79] → [Pr. PB60]

[Pr. PB79]

[Pr. PB69]

[Pr. PB70]

63.2 %

OFF

C_CDP2

C_CDP

OFF

[Pr. PB19]

→

→ [Pr. PB19]

→ [Pr. PB33] → [Pr. PB71]

[Pr. PB20]

→

→ [Pr. PB20]

→ [Pr. PB34] → [Pr. PB72]

[Pr. PB21]

→

→ [Pr. PB21]

→ [Pr. PB35] → [Pr. PB73]

[Pr. PB22]

→

→ [Pr. PB22]

→ [Pr. PB36] → [Pr. PB74]

[Pr. PB52]

→

→ [Pr. PB52]

→ [Pr. PB56] → [Pr. PB75]

[Pr. PB53]

→

→ [Pr. PB53]

→ [Pr. PB57] → [Pr. PB76]

[Pr. PB54]

→

→ [Pr. PB54]

→ [Pr. PB58] → [Pr. PB77]

[Pr. PB55]

→

→ [Pr. PB55]

→ [Pr. PB59] → [Pr. PB78]

→ [Pr. PB33]

→ [Pr. PB34]

→ [Pr. PB35]

→ [Pr. PB36]

→ [Pr. PB56]

→ [Pr. PB57]

→ [Pr. PB58]

→ [Pr. PB59]

[Pr. PB71]

[Pr. PB72]

[Pr. PB73]

[Pr. PB74]

[Pr. PB75]

[Pr. PB76]

[Pr. PB77]

[Pr. PB78]

→ [Pr. PB19]

→ [Pr. PB20]

→ [Pr. PB21]

→ [Pr. PB22]

→ [Pr. PB52]

→ [Pr. PB53]

→ [Pr. PB54]

→ [Pr. PB55]

Gain after gain switching 2 Gain after gain switching 2

Gain after gain switching

Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Model control gain

Position control gain

Speed control gain

Speed integral compensation

Vibration suppression control 1 Vibration frequency

Vibration suppression control 1 Resonance frequency

Vibration suppression control 1 Vibration frequency/damping coefficient

Vibration suppression control 1 Resonance frequency/damping coefficient

Vibration suppression control 2 Vibration frequency

Vibration suppression control 2 Resonance frequency

Vibration suppression control 2 Vibration frequency/damping coefficient

Vibration suppression control 2 Resonance frequency/damping coefficient

The following illustrates an example where [Pr. PB26.0 Gain switching selection] is set to "1" (Signal (CDP/C_CDP)).

Gain switching by control commands from the controller [G] [WG]

The following shows the timing chart.

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

Gain switching by control commands or input devices [A]

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → → [Pr. PB06]

→ [Pr. PB08]

→

→ [Pr. PB08]

→ [Pr. PB09]

→

→ [Pr. PB09]

→ [Pr. PB10]

→

→ [Pr. PB10]

63.2 %

CDT

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

63.2 %

CDT2

[Pr. PB67]

[Pr. PB68]

[Pr. PB07]

→ [Pr. PB07] →

→ [Pr. PB07]→ [Pr. PB60] → [Pr. PB79] → [Pr. PB60]

[Pr. PB79]

[Pr. PB69]

[Pr. PB70]

63.2 %

OFF

CDP2

CDP

OFF

[Pr. PB19]

→

→ [Pr. PB19]

→ [Pr. PB33] → [Pr. PB71]

[Pr. PB20]

→

→ [Pr. PB20]

→ [Pr. PB34] → [Pr. PB72]

[Pr. PB21]

→

→ [Pr. PB21]

→ [Pr. PB35] → [Pr. PB73]

[Pr. PB22]

→

→ [Pr. PB22]

→ [Pr. PB36] → [Pr. PB74]

[Pr. PB52]

→

→ [Pr. PB52]

→ [Pr. PB56] → [Pr. PB75]

[Pr. PB53]

→

→ [Pr. PB53]

→ [Pr. PB57] → [Pr. PB76]

[Pr. PB54]

→

→ [Pr. PB54]

→ [Pr. PB58] → [Pr. PB77]

[Pr. PB55]

→

→ [Pr. PB55]

→ [Pr. PB59] → [Pr. PB78]

→ [Pr. PB33]

→ [Pr. PB34]

→ [Pr. PB35]

→ [Pr. PB36]

→ [Pr. PB56]

→ [Pr. PB57]

→ [Pr. PB58]

→ [Pr. PB59]

[Pr. PB71]

[Pr. PB72]

[Pr. PB73]

[Pr. PB74]

[Pr. PB75]

[Pr. PB76]

[Pr. PB77]

[Pr. PB78]

→ [Pr. PB19]

→ [Pr. PB20]

→ [Pr. PB21]

→ [Pr. PB22]

→ [Pr. PB52]

→ [Pr. PB53]

→ [Pr. PB54]

→ [Pr. PB55]

Gain after gain switching 2 Gain after gain switching 2

Gain after gain switching

Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Model control gain

Position control gain

Speed control gain

Speed integral compensation

Vibration suppression control 1 Vibration frequency

Vibration suppression control 1 Resonance frequency

Vibration suppression control 1 Vibration frequency/damping coefficient

Vibration suppression control 1 Resonance frequency/damping coefficient

Vibration suppression control 2 Vibration frequency

Vibration suppression control 2 Resonance frequency

Vibration suppression control 2 Vibration frequency/damping coefficient

Vibration suppression control 2 Resonance frequency/damping coefficient

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

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. PA14 Travel direction selection].

When switching the gain by the command direction, the operation condition varies depending on whether "Gain switching

during a stop" is enabled or disabled. However, "Gain switching during a stop" is enabled only in the position mode. Refer to

the following table for details.

• In the position mode

[Pr. PB26.5 Gain switching selection during a stop]

0 Before gain switching The current gain value is

1 Before gain switching The current gain value is

*1 If the mode is switched to the velocity mode when "0 and INP is turned on", the "Gain after gain switching 2" is retained even after

switching the mode.

• In velocity mode

[Pr. PB26.5 Gain switching selection during a stop]

0 Before gain switching The current gain value is

1 Before gain switching The current gain value is

Command pulse frequency

Forward rotation (CCW) or positive direction

Speed command

Forward rotation (CCW) or positive direction

0 and INP is turned off 0 and INP is turned on Reverse rotation (CW)

retained

0, and ZSP is turned off

retained

or negative direction

The current gain value is retained

After gain switching 2

0, and ZSP is turned onReverse rotation (CW)

The current gain value is retained

The current gain value is

retained

After gain switching

or negative direction

After gain switching

*2 If the mode is switched to the position mode, the gain changes to the "Gain after gain switching 2".

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

When gain switching 2 during a stop is disabled

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

[Pr. PB29]

[Pr. PB30]

[Pr. PB31]

[Pr. PB32]

CDL

0 kpulse/s

-CDL

63.2 %

CDT

→

CDT

Command pulse frequency

Gain after gain switching

Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

CDL

0 kpulse/s

-CDL

→

63.2 %

CDT2CDT2

63.2 %

CDT2

63.2 %

CDT2

INP

OFF

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB06]

→ [Pr. PB08]

→ [Pr. PB09]

→ [Pr. PB10]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

63.2 %

Servo-on command

Command pulse frequency

Gain after gain switching 2Gain after gain switching 2

Gain after gain switching

Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

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.

When gain switching 2 during a stop is enabled

The timing chart of gain switching when the "Gain switching 2 during a stop" is enabled is shown as follows:

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

Gain switching by servo motor speed and gain switching 2

CDL

0 r/min

-CDL

63.2 %

CDT

63.2 %

CDT2

63.2 %

C_CDP2

OFF

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → → [Pr. PB06]

→ [Pr. PB08] →

→ [Pr. PB08]

→ [Pr. PB09] → → [Pr. PB09]

→ [Pr. PB10]

→

→ [Pr. PB10]

→

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

[Pr. PB67]

[Pr. PB68]

[Pr. PB07]

→ [Pr. PB07] →

→ [Pr. PB07]→ → [Pr. PB79]

[Pr. PB79]

[Pr. PB69]

[Pr. PB70]

[Pr. PB19]

→

→ [Pr. PB19]

→ → [Pr. PB71]

[Pr. PB20]

→

→ [Pr. PB20]

→ → [Pr. PB72]

[Pr. PB21]

→

→ [Pr. PB21]

→ → [Pr. PB73]

[Pr. PB22]

→

→ [Pr. PB22]

→ → [Pr. PB74]

[Pr. PB52]

→

→ [Pr. PB52]

→ → [Pr. PB75]

[Pr. PB53]

→

→ [Pr. PB53]

→ → [Pr. PB76]

[Pr. PB54]

→

→ [Pr. PB54]

→ → [Pr. PB77]

[Pr. PB55]

→

→ [Pr. PB55]

→ → [Pr. PB78]

[Pr. PB71]

[Pr. PB72]

[Pr. PB73]

[Pr. PB74]

[Pr. PB75]

[Pr. PB76]

[Pr. PB77]

[Pr. PB78]

→ [Pr. PB19]

→ [Pr. PB20]

→ [Pr. PB21]

→ [Pr. PB22]

→ [Pr. PB52]

→ [Pr. PB53]

→ [Pr. PB54]

→ [Pr. PB55]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

Servo motor speed

Gain after gain switching 2 Gain after gain switching 2

Gain after gain switching

Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Model control gain

Position control gain

Speed control gain

Speed integral compensation

Vibration suppression control 1 Vibration frequency

Vibration suppression control 1 Resonance frequency

Vibration suppression control 1 Vibration frequency/damping coefficient

Vibration suppression control 1 Resonance frequency/damping coefficient

Vibration suppression control 2 Vibration frequency

Vibration suppression control 2 Resonance frequency

Vibration suppression control 2 Vibration frequency/damping coefficient

Vibration suppression control 2 Resonance frequency/damping coefficient

(C_CDP2) [G] [WG]

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" (signal (CDP2/C_CDP2)).

In this case, the setting of [Pr. PB65 Gain switching 2 condition] is disabled, and "Gain switching 2" can be enabled/disabled

with the Bit 4 (C_CDP2) of [Control DI 5 (Obj. 2D05h)] or by the input device CDP2 (Gain switching 2). In addition, with the Bit

4 (C_CDP2) of [Control DI 5 (Obj. 2D05h)] or by turning on the input device CDP2 (Gain switching 2), gain switching 2

vibration suppression control ([Pr. PB71] to [Pr. PB74]/[Pr. PB75] to [Pr. PB78]) and [Pr. PB79 Gain switching 2 - Model control

gain] are used.

5 GAIN SWITCHING FUNCTION

5.6 Examples of gain switching operation

When "Switching time constant disabled" of "Gain switching time

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → [Pr. PB29] → [Pr. PB06]

→ [Pr. PB08] → [Pr. PB30]

→ [Pr. PB08]

→ [Pr. PB09] → [Pr. PB31] → [Pr. PB09]

→ [Pr. PB10]

→ [Pr. PB32]

→ [Pr. PB10]

CDL

CDL2

0 r/min

-CDL

-CDL2

63.2 %

CDT

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

Servo motor speed

Gain after gain switching 2 Gain after gain switching 2

Time constant disabled at gain switching Switching at 0 ms

Gain after gain switching Gain after gain switching Gain after gain switching

Switching with time constant set in [Pr. PB28] only when gain switching is OFF (at gain return)

Gain before gain switching Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

[Pr. PB06]

[Pr. PB08]

[Pr. PB09]

[Pr. PB10]

→ [Pr. PB06] → [Pr. PB29] → [Pr. PB06]

→ [Pr. PB08] → [Pr. PB30]

→ [Pr. PB08]

→ [Pr. PB09] → [Pr. PB31] → [Pr. PB09]

→ [Pr. PB10]

→ [Pr. PB32]

→ [Pr. PB10]

CDL

CDL2

0 r/min

-CDL

-CDL2

63.2 %

CDT

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

63.2 %

CDT2

→ [Pr. PB67]

→ [Pr. PB68]

→ [Pr. PB69]

→ [Pr. PB70]

→ [Pr. PB29]

→ [Pr. PB30]

→ [Pr. PB31]

→ [Pr. PB32]

Servo motor speed

Gain after gain switching 2 Gain after gain switching 2

Switching with time constant set in [Pr. PB28] and [Pr. PB65] only when gain switching is ON (when switching)

Gain after gain switching Gain after gain switchingGain after gain switching

Time constant disabled at gain return Switching at 0 ms

Gain before gain switching Gain before gain switching

Gain switching

Load to motor inertia ratio/load to motor mass ratio

Position control gain

Speed control gain

Speed integral compensation

constant disabling condition selection" is selected

The time constant is disabled at gain switching. The time constant becomes enabled at gain return.

The following illustrates the example description where [Pr. PB26.0 Gain switching selection] is set to "4" (Servo motor

speed).

When "Return time constant disabled" of "Gain switching time constant disabling condition selection" is selected

The time constant is enabled at gain switching. The time constant becomes disabled at gain return.

The following illustrates the example description where [Pr. PB26.0 Gain switching selection] is set to "4" (Servo motor

speed).

5.6 Examples of gain switching operation

5 GAIN SWITCHING FUNCTION

6 SPEED FEED FORWARD CONTROL FUNCTION

Position command frequency [pulse/s] 100 - Feed forward gain [%]

Number of droop pulses [pulse] =

Model control gain setting value

100

Droop pulses

[Pr. PB04 Feed forward gain] = 0

[Pr. PB04 Feed forward gain] = 50

[Pr. PB04 Feed forward gain] = 70

This function calculates a speed command required to drive the servo motor based on the position command in the position

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.

6.1 Method for setting the speed feed forward

Setting a value in [Pr. PB04 Feed forward gain] enables the speed feed forward.

The droop pulses at a constant speed decrease in accordance with the value in [Pr. PB04], as shown in the following.

When [Pr. PB04] is set to "100", a large overshoot occurs at acceleration/deceleration although the droop pulses at a constant

speed become "0".

6 SPEED FEED FORWARD CONTROL FUNCTION

6.1 Method for setting the speed feed forward

MEMO

6 SPEED FEED FORWARD CONTROL FUNCTION

6.1 Method for setting the speed feed forward

7 OVERSHOOT SUPPRESSION CONTROL

Servo motor speed at constant speed [r/min]

Dynamic friction torque at servo motor rated speed/Thrust [%] = Torque at constant speed [%]

Servo motor rated speed [r/min]

The overshoot suppression control is a function that decreases the overshoot in the positioning to a machine with high friction.

Use this function when the overshoot does not decrease even after adjusting [Pr. PB07 Model control gain].

7.1 Restrictions on the overshoot suppression control

• The overshoot suppression control is enabled in the position mode.

• When [Pr. PB25.0 Model adaptive control selection] is set to "2" (disabled), the overshoot suppression control cannot be

used.

7.2 Settings of the overshoot suppression control

When using the overshoot suppression control, set a dynamic friction torque or thrust to the servo motor rated speed in [Pr.

PB13 Overshoot amount compensation] as the rated torque in percentage unit. When the response level is low, or when the

torque/thrust is limited, the efficiency of the overshoot suppression control may decrease.

Calculate the dynamic friction torque or thrust to the servo motor rated speed from the torque at the constant speed.

7 OVERSHOOT SUPPRESSION CONTROL

7.1 Restrictions on the overshoot suppression control

MEMO

7 OVERSHOOT SUPPRESSION CONTROL

7.2 Settings of the overshoot suppression control

8 SLIGHT VIBRATION SUPPRESSION CONTROL

OFF

Servo motor speed Servo motor speed

Droop pulses

INP range

INP signal

Gain Original gain Gain in slight vibration suppression control Original gain

This function suppresses the variation of the pulses generated at each servo motor stop.

8.1 Restrictions on the slight vibration suppression

control

• The slight vibration suppression control is enabled in the position mode.

• The slight vibration suppression control is enabled when [Pr. PA08.0 Gain adjustment mode] is set to "3" (manual mode).

8.2 Settings of the slight vibration suppression

control

When using the slight vibration suppression control, set the following servo parameters.

Servo parameter Description

PB24.0 Slight vibration suppression control selection

8.3 Operation of slight vibration suppression control

0: Disabled 1: Enabled

The slight vibration suppression control function changes the gain from the rising edge position of INP (In-position) OFF to ON

to suppress the variation of the pulses generated at a servo motor stop. When the slight vibration suppression control is

enabled, the gain is calculated automatically in the servo amplifier. If the droop pulses exceed the in-position range while

driving the servo motor, the gain changes back to the original gain.

8 SLIGHT VIBRATION SUPPRESSION CONTROL

8.1 Restrictions on the slight vibration suppression control

MEMO

8 SLIGHT VIBRATION SUPPRESSION CONTROL

8.3 Operation of slight vibration suppression control

9 UNBALANCED TORQUE OFFSET

(Torque in forward direction feed [%]) + (Torque in reverse direction feed [%])

Unbalanced torque [%] =

For a vertical axis, unbalanced torque occurs due to the gravity. Therefore, the vertical axis may fall slightly, immediately after

the servo-on. To prevent the falling of the vertical axis, the unbalanced torque of a machine can be set as an unbalanced

torque offset to cancel the unbalanced torque. For machines where unbalanced torque does not occur, setting the unbalanced

torque offset is unnecessary.

9.1 Setting unbalanced torque offset

Set the unbalanced torque offset with the following procedure.

Automatic setting

1. Parameter setting

Set "1" (automatic setting) to [Pr. PE41.6 Unbalanced torque offset setting selection].

2. Estimating friction

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.

Manual setting

1. Parameter setting

Set "0" (manual setting) to [Pr. PE41.6 Unbalanced torque offset setting selection].

2. Measure the torque

Measure the torque in the forward direction feed and reverse direction feed, by using MR Configurator2.

3. Setting an unbalanced torque offset

Calculate unbalanced torque from the measurement result of the torque, and then set the unbalanced torque value in [Pr.

PE47 Unbalanced torque offset].

9 UNBALANCED TORQUE OFFSET

9.1 Setting unbalanced torque offset

MEMO

9 UNBALANCED TORQUE OFFSET

9.1 Setting unbalanced torque offset

10 MODEL ADAPTIVE CONTROL

Achieves a high response and stable control according the ideal model. 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. Refer

to the following for disabling this function. Page 96 Disabling model adaptive control

10.1 Setting model adaptive control

The characteristics of the model adaptive control is changeable with [Pr. PA24.0 Vibration suppression mode].

For performing path tracking, set "4" (Path tracking mode). This setting improves the path accuracy. Refer to the following for

details. Page 98 Path tracking model adaptive control

Servo parameter Description

PA24.0 Vibration suppression mode selection

10.2 Disabling model adaptive control

0: Standard mode 1: 3 inertia mode 2: Low response mode 4: Path tracking mode

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.

The following shows the available servo parameters when model adaptive control is disabled.

Servo parameter Symbol Name

PB08 PG2 Position control gain

PB09 VG2 Speed control gain

PB10 VIC Speed integral compensation

Instructions on disabling model adaptive control

• The following functions are not available when model adaptive control is disabled.

Function Servo parameter Explanation

Forced stop deceleration function

Vibration suppression control 1PB02/PB19/PB20 Vibration suppression control uses model adaptive control. Therefore, vibration suppression control

Vibration suppression control 2PB02/PB52/PB53

Overshoot amount compensation

PA04 When the forced stop deceleration function is enabled, disabling the model adaptive control triggers

[AL. 037 Parameter error]. The forced stop deceleration function is enabled at the factory setting. Set

[Pr. PA04.3 Forced stop deceleration function selection] to "0" (Forced stop deceleration function

disabled).

cannot be used when model adaptive control is disabled.

PB12 The overshoot amount compensation uses data which are also used by model adaptive control.

Therefore, the overshoot amount compensation is disabled when model adaptive control is disabled.

• Change the servo parameters only when the servo motor is at a stop.

• When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust with checking operation

status of the servo motor.

10 MODEL ADAPTIVE CONTROL

10.1 Setting model adaptive control

How to disable model adaptive control

When disabling model adaptive control, set [Pr. PB25.0 Model adaptive control selection] to "2" (Disabled (PID control)).

Servo parameter Description

PB25.0 Model adaptive control selection

0: Enabled (model adaptive control) 2: Disabled (PID control)

10 MODEL ADAPTIVE CONTROL

10.2 Disabling model adaptive control

11 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. Use this function on machines that require a high path accuracy, such as processors.

In addition, the path-tracking model adaptive control reduces the tracking error in the reciprocating motion.

• When [Pr. PA24.0 Vibration suppression mode selection] is set to a value other than "4"

• When [Pr. PA24.0 Vibration suppression mode selection] is set to "4"

Setting the path tracking model adaptive control

When using the path tracking model adaptive control, set [Pr. PA24.0 Vibration suppression mode selection] to "4" (Path

tracking mode).

Servo parameter Description

PA24.0 Vibration suppression mode selection

0: Standard mode 1: 3 inertia mode 2: Low response mode 4: Path tracking mode

Mitsubishi Electric MELSERVO J5, MR-J5W-G, MR-J5, MR-J5-G, MR-J5-A User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY INSTRUCTIONS

ABOUT THE MANUAL

U.S. CUSTOMARY UNITS

CONTENTS

Functions to automatically adjust machine stability

1 ADJUSTMENT FUNCTION TYPES

1.1 Adjustment function available to servo amplifier alone

Adjustment functions to suppress vibration and to obtain a high level of responsiveness

Manual adjustment functions to obtain the maximum performance

1.2 Adjustment functions available in combination with MR Configurator2

2 ADJUSTMENT PROCEDURE

Restrictions on quick tuning

Precautions on quick tuning

3 ADJUSTMENT METHOD

3.1 Quick tuning

Setting method for quick tuning

Operation of quick tuning

Errors in quick tuning

Restrictions on one-touch tuning

3.2 One-touch tuning

Instructions on one-touch tuning

One-touch tuning procedure

Progress display during one-touch tuning

Servo parameters adjusted with one-touch tuning

One-touch tuning stop method

One-touch tuning error

Initializing one-touch tuning

Restrictions on auto tuning mode 1

Instructions on auto tuning mode 1

3.3 Auto tuning mode 1

Adjustment procedure by auto tuning mode 1

Responsiveness setting in auto tuning mode 1

Operation of auto tuning mode 1

Precautions on auto tuning mode 2

Adjustment procedure by auto tuning mode 2

3.4 Auto tuning mode 2

Responsiveness setting in auto tuning mode 2

Operation of auto tuning mode 2

Adjustment procedure of 2 gain adjustment mode 1

3.5 2 gain adjustment mode 1

Operation of 2 gain adjustment mode 1

Adjustment procedure of 2 gain adjustment mode 2

Operation of 2 gain adjustment mode 2

3.6 2 gain adjustment mode 2

Adjustment procedure of velocity mode

3.7 Manual mode

Adjustment procedure of position mode

Precautions on load to motor inertia ratio monitor mode

Adjustment procedure of load to motor inertia ratio monitor mode

Operation of load to motor inertia ratio monitor mode

3.8 Load to motor inertia ratio monitor mode

4.2 Machine resonance suppression filter

4 VIBRATION SUPPRESSION FUNCTION

4.1 Filter setting

Machine resonance suppression filter restrictions

Machine resonance suppression filter precautions

Machine resonance suppression filter setting method

Operation of machine resonance suppression filter

Restrictions on adaptive tuning

Precautions for adaptive filter II

4.3 Adaptive filter II

How to set adaptive filter II

Adaptive tuning procedure

Shaft resonance suppression filter restrictions

Shaft resonance suppression filter setting method

4.4 Shaft resonance suppression filter

Low-pass filter setting method

Operation of low-pass filter

4.6 Robust filter

Robust filter restrictions

Robust filter setting method

4.5 Low-pass filter

4.7 Advanced vibration suppression control II

Advanced vibration suppression control restrictions

Advanced vibration suppression control precautions

Advanced vibration suppression control setting method