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6.7.3 Motor-less operation ........................................................................................................................ 6 -18
6.7.4 Output signal (DO) forced output ..................................................................................................... 6 -19
6.7.5 Single-step feed ............................................................................................................................... 6 -20
6.8 Alarm ....................................................................................................................................................... 6 -23
6.8.1 Alarm display .................................................................................................................................... 6 -23
6.8.2 Batch display of data at alarm occurrence ...................................................................................... 6 -24
6.8.3 Alarm history ..................................................................................................................................... 6 -26
7. PARAMETER UNIT (MR-PRU03) 7 - 1 to 7 -20
7.1 External appearance and key explanations ............................................................................................ 7 - 2
7.2 Specifications ........................................................................................................................................... 7 - 3
7.3 Outline dimension drawings..................................................................................................................... 7 - 3
7.4 Connection with servo amplifier ............................................................................................................... 7 - 4
7.4.1 Single axis ......................................................................................................................................... 7 - 4
7.4.2 Multidrop connection ......................................................................................................................... 7 - 5
7.5 Display ...................................................................................................................................................... 7 - 7
7.5.1 Outline of screen transition ............................................................................................................... 7 - 7
7.5.2 MR-PRU03 parameter unit setting ................................................................................................... 7 - 8
7.5.3 Monitor mode (status display) ........................................................................................................... 7 - 9
7.5.4 Alarm/diagnostic mode .................................................................................................................... 7 -11
7.5.5 Parameter mode ............................................................................................................................... 7 -13
7.5.6 Point table mode .............................................................................................................................. 7 -14
7.5.7 Test operation mode ........................................................................................................................ 7 -15
7.6 Error message list ................................................................................................................................... 7 -19
8. GENERAL GAIN ADJUSTMENT 8 - 1 to 8 -12
8.1 Different adjustment methods .................................................................................................................. 8 - 1
8.1.1 Adjustment on a single servo a mplifier ............................................................................................. 8 - 1
8.1.2 Adjustment using MR Configurator ................................................................................................... 8 - 2
8.2 Auto tuning ............................................................................................................................................... 8 - 3
8.2.1 Auto tuning mode .............................................................................................................................. 8 - 3
8.2.2 Auto tuning mode operation .............................................................................................................. 8 - 4
8.2.3 Adjustment procedure by auto tunin g ............................................................................................... 8 - 5
8.2.4 Response level setting in auto tuning mode .................................................................................... 8 - 6
8.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 8 - 7
8.4 Interpolation mode .................................................................................................................................. 8 -11
8.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 8 -12
9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-16
9.1 Function block diagram ............................................................................................................................. 9- 1
9.2 Adaptive filter
.......................................................................................................................................... 9- 1
9.3 Machine resonance suppression filter ...................................................................................................... 9- 4
9.4 Advanced vibration suppression control .................................................................................................. 9- 6
9.5 Low-pass filter .......................................................................................................................................... 9-10
9.6 Gain changing function ............................................................................................................................ 9-10
9.6.1 Applications ....................................................................................................................................... 9-10
9.6.2 Function block diagram ..................................................................................................................... 9-11
9.6.3 Parameters ........................................................................................................................................ 9-12