Mitsubishi Electric MELSERVO J5 Series User manual

MR-J5
User's Manual
(Adjustment)
-MR-J5-_G_
-MR-J5W_-_G
-MR-J5-_A_
Mitsubishi Electric AC Servo System

1
SAFETY INSTRUCTIONS
(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.
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 .

2
[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
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.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
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.

3
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.
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Symbol Servo amplifier
[G] MR-J5-_G_
[WG] MR-J5W_-_G
[A] MR-J5-_A_
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 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

4
CONTENTS
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

5
CONTENTS
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
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

6
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
87
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
1.1 Adjustment function available to servo amplifier alone 7
1
1ADJUSTMENT FUNCTION TYPES
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.
Precautions
• 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.
Page 12
Quick tuning
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.
Page 37 Auto
tuning mode 1
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.
Page 41 Auto
tuning mode 2
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.
Page 43 2
gain adjustment
mode 1
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 44 2
gain adjustment
mode 2

81 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
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
Use this function if machine resonance occurs when the response level in the auto tuning and manual
mode is increased.
Page 50
Machine
resonance
suppression filter
Adaptive filter II Use this function to adjust the machine resonance suppression filter automatically. Page 53
Adaptive filter II
Robust filter When the load to motor inertia ratio of a machine is 10 times or more, use this function to more increase
the response level of the machine.
Page 59
Robust filter
Advanced vibration
suppression control II
Use this function to reduce settling time as the vibration is being suppressed, if the vibration during setting
is large at high-speed positioning.
Page 60
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
positioning.
Page 66
Command notch
filter
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.
Page 45
Manual mode
Gain switching function Use this function for:
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
Page 73
GAIN
SWITCHING
FUNCTION
Speed feed forward Use this function to improve path accuracy by decreasing droop pulses at the constant speed. Page 88
SPEED FEED
FORWARD
CONTROL
FUNCTION
Overshoot suppression
function
Use this function to decrease the overshoot. Page 90
OVERSHOOT
SUPPRESSION
CONTROL
Slight vibration suppression
function
Use this function to suppress vibration at a servo motor stop. Page 92
SLIGHT
VIBRATION
SUPPRESSION
CONTROL
Unbalanced torque offset Use this function for freefall prevention on vertical axis at servo-on. Page 94
UNBALANCED
TORQUE
OFFSET
Path tracking model
adaptive control
Use this function to suppress overshoot in path control. Page 98 Path
tracking model
adaptive control
Lost motion compensation
function
Use this function to suppress quadrant projections at speed switching in path control. Page 99 Lost
motion
compensation
function

1 ADJUSTMENT FUNCTION TYPES
1.2 Adjustment functions available in combination with MR Configurator2 9
1
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
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.

One-touch tuning in the
amplifier command method
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

10 2 ADJUSTMENT PROCEDURE
2ADJUSTMENT PROCEDURE
Adjust the servo amplifier with the following procedure.
No. Instructions
(1) Change [Pr. PA08.0 Gain adjustment mode selection] to "0".
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
(2) This mode can adjust the servo amplifier without driving the servo motor.
Adjust the servo amplifier with this mode when not executing the interpolation control.
Page 12 Quick tuning
(3) Change the mode to the load to motor inertia ratio monitor mode if the adjustment result of the quick tuning has no problem.
Page 12 Quick tuning
Yes
Yes
No
No
No
No
No
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No (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

2 ADJUSTMENT PROCEDURE
11
2
(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
No. Instructions

12 3 ADJUSTMENT METHOD
3.1 Quick tuning
3ADJUSTMENT 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 13
3
Setting method for quick tuning
How to use quick tuning
Execute one-touch tuning with the following procedures.
■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.
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
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
PA08.5 Quick tuning - Execution selection Set when to execute quick tuning. The initial value is "0".
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.)
PA34 Quick tuning - Permissible travel
distance
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

14 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
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.
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
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 15
3
Operation of quick tuning
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.
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.
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
Start of quick tuning Gain adjustment complete
Torque
60 % of rated
torque
Time
-60 % of rated
torque
Speed
Time
Approx. 300 [ms]

16 3 ADJUSTMENT METHOD
3.2 One-touch tuning
3.2 One-touch tuning
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.
Precautions
• 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 17
3
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

18 3 ADJUSTMENT METHOD
3.2 One-touch tuning
■Overshoot permissible level setting
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
[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