When Shortening The Settling Time - Mitsubishi melservo-j2 series Instruction Manual

9. ADJUSTMENT

9.4.4 When shortening the settling time

(1) Machine condition
The settling time will be increased by the gains provided by auto tuning.
(2) Adjustment procedure
1) Choose the response setting of slow response.
Set 0101 in parameter No.3.
2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does
not vibrate.
3) Set the load inertia moment ratio (machine inertia moment ratio in parameter No.34).
If an exact machine inertia moment ratio is unknown, enter an approximate value.
When the value is set in this parameter, the following parameters are set automatically. When there
is no machine resonance, the value of each parameter is set to the ideal gain for the parameter No.34
value.
Parameter No.
No.7
No.35
No.36
No.37
No.38
4) Set 2 in parameter No.3 to make auto tuning invalid.
Make the parameter No.7, 35 to 38 settings manually adjustable.
5) Check the operating status and adjust the following parameter values:
Parameter No.
No.7
No.35
No.36
No.37
No.38
Make adjustment by gradually increasing the parameter No.7, 35 to 37 settings at the same ratio and
reducing the speed integral compensation (parameter No.38). The optimum value is provided at the
point just before vibration increases. Use of the machine resonance suppression filter (parameter
No.22) may increase the limit point. Note that since the maximum value of the speed loop gain is
"2000", do not set a value greater than that.
Symbol
PG1 Position loop gain 1
PG2 Position loop gain 2
VG1 Speed loop gain 1
VG2 Speed loop gain 2
VIC Speed integral compensation
Symbol Name
PG1 Position loop gain 1
PG2 Position loop gain 2
VG1 Speed loop gain 1
VG2 Speed loop gain 2
Speed integral
VIC
compensation
Name
Higher setting shortens the settling time but is liable to
cause overshooting.
Higher setting improves the servo response level but is
liable to cause vibration.
Lower setting keeps the speed constant to load
disturbance and increases holding force at a stop (servo
rigidity) but is liable to cause overshooting.
9 - 9
Description