Specifications

4 - 7
[Adjustment parameters]
When real-time auto tuning is enabled, the values (No.1 to No.6) are tuned and changed
during test operation.
Read the values from the servo amplifier to the personal computer, and then write
them in the Q172CPU(N) before turning OFF the system power supply.
Setting range Default
mm inch degree PULSENo. Item
Setting range Units Setting range Units Setting range Units Setting range Units
Initial value Units
Remarks
1
LOAD INERTIA
RATIO
(MR-H-B (N)/MR-J2-B) (MR-J2S-B, MR-J2M-B)
0.0 to 100.0 0.0 to 300.0
3.0*
1
–
• Set the ratio of moment of load
inertia for the motor.
2
POSITION
CONTROL
GAIN 1
(MR-H-B (N)/MR-J2-B) (MR-J2S-B, MR-J2M-B)
Valid range 4 to 1000 rad/sec Valid range 4 to 2000 rad/sec Setting range 1 to 9999 rad/sec
70*
2
rad/
sec
• Set to increase the follow-up with
respect to the position command.
3
VELOCITY
LOOP GAIN 1
(MR-H-B (N)/MR-J2-B) (MR-J2S-B, MR-J2M-B)
Valid range 20 to 5000 rad/sec Valid range 20 to 8000 rad/sec Setting range 1 to 9999 rad/sec
1200*
3 rad/
sec
• Set to increase the follow-up with
respect to the speed command.
4
POSITION
LOOP GAIN 2
(MR-H-B (N)/MR-J2-B) (MR-J2S-B, MR-J2M-B)
Valid range 1 to 500 rad/sec Valid range 1 to 1000 rad/sec Setting range 1 to 9999 rad/sec
25*
4
rad/
sec
• Set to increase the position
response with respect to load
disturbance.
5
VELOCITY
LOOP GAIN 2
(MR-H-B (N)/MR-J2-B)
Valid range 20 to 8000 rad/sec Setting range 1 to 9999 rad/sec
(MR-J2S-B, MR-J2M-B)
Valid range 20 to 20000 rad/sec Setting range 1 to 99999 rad/sec
600*
5 rad/
sec
•
Set when vibration is generated, for
example in machines with a large
backlash.
6
VEL.
INTEGRAL
COMPS.
Valid range 1 to 1000 ms Setting range 1 to 9999 ms
20*
6
ms
• Set the time constant for integral
compensation.
7
NOTCH
FILTER*
7
0: Not used 4: 450
1: 1125 5: 375
2: 750 6: 321
3: 562 7: 281
0 Hz
• Set the frequency for the notch
filter.
8
FEED
FORWARD
GAIN
0 to 100%
0: Feed forward control is not executed.
0 %
• Set the feed forward coefficient
used in positioning control.
9
IN-POSITION
RANGE*
8
0.1 to 3276.7 µm
0.00001 to
0.32767
inch
0.00001 to
0.32767
degree 1 to 32767 PLS 100 PLS
• Sets the quantity of droop pulses in
the deviation counter.
• The in-position signal is ON when
the number of droop pulses is
within the set range.
1 ≤ (in-position range) ×
AP/AL·AM ≤ 32767
10
MAGNETIC
BRAKE OUT
0 to 1000ms 100 ms
• Set the time delay between
actuation of the electromagnetic
brake and base disconnection.
11
MON. OUT.
MODE
(MON. 1)
0 –
12
MON. OUT.
MODE
(MON. 2)
(MR-H-B (N)/MR-J-B) (MR-J2-B) (MR-J2S-B, MR-J2M-B)
0: VEL. (±) 0: VEL. (±) 0: VEL. (±)
1: TRQ. (±) 1: TRQ. (±) 1: TRQ. (±)
2: VEL. (+) 2: VEL.(+) 2: VEL.(+)
3: TRQ. (+) 3: TRQ. (+) 3: TRQ. (+)
4: CUR CMD. OUT 4: CUR CMD. OUT 4: CUR CMD. OUT
5: CMD F∆T 5: CMD F∆T 5: CMD F∆T
6: DEV. PULSE 1/1 6: DEV. PULSE 1/1 6: DEV. PULSE 1/1
7: DEV. PULSE 1/4 7: DEV. PULSE 1/16 7: DEV. PULSE 1/16
8: DEV. PULSE 1/16 8: DEV. PULSE 1/64 8: DEV. PULSE 1/64
9: DEV. PULSE 1/32 9: DEV. PULSE 1/256 9: DEV. PULSE 1/256
10: DEV. PULSE 1/1024 10: DEV. PULSE 1/1024
11: Bus voltage
1 –
• Set the monitor items output as
analogue outputs in real time.
13
OPTIONAL
FUNCTION 1
(CARRIER)*
9
0: 2.25kHz (non low-noise operation)
3: 9kHz (low-noise operation)
0 kHz
• Set the "low noise" to improve the
sound of the frequencies generated
from the motor.
14
OPTIONAL
FUNCTION 1
(ENCODER
TYPE)
0: 2 LINES
1: 4 LINES
0 –
• Set the type of encoder cable.
15
OPTIONAL
FUNCTION 1
(EXT. EMRG
STOP SIG)*
10
0: USE
1: NO-USE
0 –
• To invalidate the external
emergency stop signal (EMG) set
"not used".
*
1
: For MR-J2 (S)-B and MR-J2M-B, the default is "7.0". *
6
: For MR-J2S-B and MR-J2M-B, the default is "48".
*
2
: For MR-J2S-B and MR-J2M-B, the default is "35". *
7
: Setting not possible for MR-J2S-B and MR-J2M-B.
*
3
: For MR-J2S-B and MR-J2M-B, the default is "117". *
8
: The display of the possible setting range differs according to the electronic gear value.
*
4
: For MR-J2S-B and MR-J2M-B, the default is "35". *
9
: Cannot be set with MR-J2 (S)-B and MR-J2M-B.
*
5
: For MR-J2S-B and MR-J2M-B, the default is "817". *
10
: Cannot be set with MR-H-B (N).