Mitsubishi Electric MELSERVO-J5 User Manual page 246
Ac servo system
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Also See for MELSERVO-J5:
- User manual (478 pages) ,
- Sample screen manual (128 pages) ,
- Introduction manual (112 pages)
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Friction estimation function
Zero speed
Servo motor speed
Zero speed
To perform friction estimation, the servo motor must be rotated at zero speed or higher, and operated for 150 s both in the high
and low-speed sections. The high speed indicates the section where the absolute value of the servo motor speed is equal to
or higher than [Pr. PF31 Machine diagnosis function - Friction estimate area judgment speed at low speed], whereas the low
speed indicates the section where the absolute value of the servo motor speed is less than [Pr. PF31]. For the above
operation pattern, when (a) + (c) is 150 s or more and (b) is 150 s or more, the friction in the forward rotation direction is
estimated. The friction in the reverse rotation direction is estimated even if time (d) is 150 s or more because the servo motor
is not operated in the high-speed section. In this case, decrease the setting value of [Pr. PF31] to perform friction estimation.
When [Pr. PF31] is set to "0", the threshold is 1/2 of the rated speed.
For the following operation pattern, it takes approximately 20 min. to finish friction estimation.
1/2 of rated speed
Servo motor speed
1/2 of rated speed
The friction estimation function estimates the static friction both at forward rotation and reverse rotation, and the dynamic
friction (at rated speed) both at forward rotation and reverse rotation. To estimate these values, it is unnecessary to perform
to-and-fro positioning operation. When the servo motor is operated in acceleration/deceleration for forward rotation, only the
static friction and dynamic friction (at rated speed) at forward rotation can be estimated. When the servo motor is operated in
acceleration/deceleration for reverse rotation, only the static friction and dynamic friction (at rated speed) at reverse rotation
can be estimated.
The progress of the friction estimation can be checked by using MR Configurator2 or a controller. When using MR
Configurator2 to check the progress, open the machine diagnosis screen. The progress can also be checked by the controller
by using [Friction estimate status (Obj. 2C31h)].
4 APPLICABLE FUNCTIONS
244
4.5 Machine diagnosis
Speed
[Pr. PF31]
Forward
rotation
0 r/min
Reverse
rotation
(a)
(b)
[Pr. PF31]
Speed
3000 r/min
Forward
rotation
0 r/min
Reverse
rotation
1 s
1 s
(d)
(c)
1 s
1 s
1 s
1 s
0.5 s
-3000 r/min
Time
Zero speed
0.5 s
Time
Zero speed
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