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4. OPERATION
4.2.3 Speed control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "r (servo motor
speed)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
51
DescriptionParameter No. Name Setting
Control mode, regenerative option
selection
Position control mode
MR-RB12 regenerative option is used.
0
Auto tuning2
8 1000
91500
20
21
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
Set 1000r/min.
Set 1500r/min.
1
Internal speed command 2
Internal speed command 1
Function selection 1
10 Internal speed command 3
11 Acceleration time constant
12 Deceleration time constant
13
S-pattern acceleration/deceleration
time constant
2000
1000
500
0
Set 2000r/min.
Set 1000ms
Set 500ms.
Not used
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON).
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor
is locked.
(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation start (ST1) to run the motor in the forward rotation (CCW) direction or reverse
rotation start (ST2) to run it in the reverse rotation (CW) direction. At first, set a low speed and check
the rotation direction, etc. If it does not run in the intended direction, check the input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)