Interpolation Mode - Mitsubishi Electric MR-J3-10B Instruction Manual

6. GENERAL GAIN ADJUSTMENT

6.4 Interpolation mode

The interpolation mode is used to match the position loop 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 model loop gain
and speed loop gain which determine command trackability 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.
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
(2) Adjustment procedure
Step
1 Set to the auto tuning mode.
During operation, increase the response level setting (parameter No. PA09), and
2
return the setting if vibration occurs.
3 Check the values of model loop gain.
4 Set the interpolation mode (parameter No. PA08: 0000).
Using the model loop gain value checked in step 3 as the guideline of the upper
5 limit, set in PG1 the value identical to the position loop gain of the axis to be
interpolated.
Looking at the interpolation characteristic and rotation status, fine-adjust the gains
6
and response level setting.
(3) Adjustment description
(a) Model loop gain (parameter No. PB07)
This parameter determines the response level of the position control loop. Increasing model loop gain
improves trackability 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)
Abbreviation
PB06 GD2
PB08 PG2
PB09 VG2
PB10
Abbreviation
PB07 PG1
Rotation speed (r/min)
Ratio of load inertia moment to servo motor inertia moment
Position loop gain
Speed loop gain
VIC Speed integral compensation
Model loop gain
Operation
262144(pulse)
60
Model loop gain setting
6 - 11
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 loop gain.
Fine adjustment.