Interpolation Mode - Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual

7. GENERAL GAIN ADJUSTMENT

7.4 Interpolation mode

The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 2 and speed control gain 2 which determine command track ability are set manually and
the other parameter for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
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Parameter No.
34
35
37
38
(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
1
response 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
3
control gain 1 (parameter No.36).
4 Set the interpolation mode (parameter No.2: 000 ).
Using the position control gain 1 value checked in step 3 as the guideline of
5 the upper limit, set in PG1 the value identical to the position loop gain of the
axis to be interpolated.
Using the speed control gain 1 value checked in step 3 as the guideline of
6 the 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
Abbreviation
GD2 Ratio of load inertia moment to servo motor inertia moment
PG2 Position control gain 2
VG2 Speed control gain 2
VIC Speed integral compensation
Abbreviation
PG1 Position control gain 1
VG1 Speed control gain 1
Operation
Rotation speed (r/min)
60
Position control gain 1 setting
Position control gain 1 setting 3
7 - 10
Name
Name
Description
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)