Mitsubishi Electric MR-J2S-A Instruction Manual page 183

7. GENERAL GAIN ADJUSTMENT
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
6
36
(2) Adjustment procedure
Step
Set 15Hz (parameter No. 2: 010 ) as the machine resonance frequency of response
1
in the auto tuning mode 1.
During operation, increase the response level setting (parameter No. 2), and
2
return the setting if vibration occurs.
Check the values of position control gain 1 (parameter No. 6) and speed control
3
gain 1 (parameter No. 36).
4 Set the interpolation mode (parameter No. 2: 000 ).
Set the position control gain 1 of all the axes to be interpolated to the same value.
5 At that time, adjust to the setting value of the axis, which has the smallest
position control gain 1.
Using the speed control gain 1 value checked in step 3 as the guideline of the
6 upper limit, look at the rotation status and set in speed control gain 1 the value
three or more times greater than the position control gain 1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
7
gains and response level setting.
(3) Adjustment description
(a) Position control gain 1 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability to a position command but a too high value will make
overshooting liable to occur at the time of settling. The droop pulse value is determined by the
following expression.
Droop pulse value (pulse)
(b) Speed control gain 1 (parameter No. 36)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
Abbreviation
PG1 Position control gain 1
VG1 Speed control gain 1
Operation
Rotation speed (r/min)
60
Position control gain 1 setting
7 - 10
WWW.NNC.IR
Name
Select the auto tuning mode 1.
Adjustment in auto tuning mode
1.
Check the upper setting limits.
Select the interpolation mode.
Set position control gain 1.
Set speed control gain 1.
Fine adjustment.
131,072(pulse)
Description