Mitsubishi Electric MELDAS MDS-R-V2-2020 - Page 19

9. Adjustment
9-1 Servo adjustment data output function (D/A output) ..............................................................................9-2
9-1-1 D/A output specifications ........................................................................................................... 9-2
9-1-2 Setting the output data............................................................................................................... 9-2
9-1-3 Setting the output magnification ................................................................................................ 9-3
9-1-4 Current feedback analog output function................................................................................... 9-3
9-2 Gain adjustment.......................................................................................................................................9-4
9-2-1 Current loop gain ....................................................................................................................... 9-4
9-2-2 Speed loop gain......................................................................................................................... 9-4
9-2-3 Position loop gain....................................................................................................................... 9-6
9-3 Characteristics improvement...................................................................................................................9-9
9-3-1 Optimal adjustment of cycle time............................................................................................... 9-9
9-3-2 Vibration suppression measures ............................................................................................. 9-11
9-3-3 Improving the cutting surface precision................................................................................... 9-15
9-3-4 Improvement of protrusion at quadrant changeover................................................................ 9-18
9-3-5 Improvement of overshooting .................................................................................................. 9-23
9-3-6 Improvement of characteristics during acceleration/deceleration ........................................... 9-25
9-4 Settings for emergency stop..................................................................................................................9-28
9-4-1 Deceleration control................................................................................................................. 9-28
9-4-2 Vertical axis drop prevention control........................................................................................ 9-30
9-4-3 Vertical axis pull up control...................................................................................................... 9-32
10. Troubleshooting
10-1 Points of caution and confirmation......................................................................................................10-2
10-2 Troubleshooting at start up..................................................................................................................10-3
10-3 List of unit protection functions............................................................................................................10-4
10-3-1 List of alarms.......................................................................................................................... 10-4
10-3-2 List of warnings...................................................................................................................... 10-6
10-4 Troubleshooting according to alarm and warning number.................................................................10-7
10-4-1 Alarms.................................................................................................................................... 10-7
10-4-2 Warning................................................................................................................................ 10-18
10-4-3 Parameter No. during initial parameter error....................................................................... 10-20
11. Characteristics
11-1 Inspections...........................................................................................................................................11-2
11-2 Service parts........................................................................................................................................11-2
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable................................................................................................................. A1-2
Appendix 1-1-1 Cable wire and assembly.........................................................................................A1-2
Appendix 1-2 Cable connection diagram (SVJ2-6-4-5, 6-22P)................................................................. A1-4
Appendix 1-3 Connector outline dimension drawings ............................................................................... A1-8
Appendix 1-4 Cable and connector assembly ......................................................................................... A1-13
Appendix 1-4-1 CM10-SP**S plug connector .................................................................................A1-13
Appendix 1-4-2 CM10-AP**S Angle Plug Connector......................................................................A1-20
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity......................................................................................... A2-2
Appendix 2-1-1 Load inertia ratio......................................................................................................A2-2
Appendix 2-1-2 Short time characteristics ........................................................................................A2-2
Appendix 2-1-3 Continuous characteristics.......................................................................................A2-3
Appendix 2-2 Selecting the regenerative resistor...................................................................................... A2-5
Appendix 2-2-1 Calculating the regenerative energy........................................................................A2-5
Appendix 2-2-2 Calculating the positioning frequency......................................................................A2-7
Appendix 2-3 Example of servo selection.................................................................................................. A2-8
Appendix 2-3-1 Motor selection calculation ......................................................................................A2-8
Appendix 2-3-2 Regenerative resistor selection calculation ...........................................................A2-11
Appendix 2-3-3 Servo selection results...........................................................................................A2-13
Appendix 2-4 Motor shaft conversion load torque ................................................................................... A2-14
Appendix 2-5 Expressions for load inertia calculation............................................................................. A2-15