Operation Of Auto Tuning Mode 1 - Mitsubishi Electric MR-J5 User Manual

Operation of auto tuning mode 1

The block diagram for auto tuning mode 1 is shown below.
Command
Control gain
+
PG1, PG2,
-
VG2, VIC
Gain table
[Pr. PA08.0 Gain
adjustment mode
selection]
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to
motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to
motor inertia ratio/load to motor mass ratio]. These results can be confirmed on the status display screen on MR
Configurator2.
If the value of the load to motor inertia ratio is known in advance or the estimation has failed, set [Pr. PA08.0 Gain adjustment
mode selection] to "2" (Auto tuning mode 2), and after stopping the estimation of the load inertia moment ratio, set the load to
motor inertia ratio ([Pr. PB06]) manually.
Auto tuning results are saved in the non-volatile memory of the servo amplifier every 10 minutes after power-on. At power-on,
auto tuning is performed using the value of each control gain saved in the non-volatile memory as the initial value.
The servo parameters that are automatically adjusted in auto tuning mode 1 are shown in the table below.
Servo parameter
PB06
PB07
PB08
PB09
PB10
3 ADJUSTMENT METHOD
46
3.3 Auto tuning mode 1
Automatic setting
+
-
Current feedback
Real-time auto tuning section
estimation section
[Pr. PB06 Load to motor
inertia ratio/load to
motor mass ratio]
Symbol Name
GD2 Load to motor inertia ratio/load to motor mass ratio
PG1 Model control gain
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Current
M
control
Servo motor
Position/speed
feedback
Load to motor
inertia ratio
Speed feedback
Load moment of inertia
Encoder