Responsiveness Setting In Auto Tuning Mode 2; Operation Of Auto Tuning Mode 2 - Mitsubishi Electric MR-J5 User Manual

Responsiveness setting in auto tuning mode 2

Refer to the following.
Page 44 Responsiveness setting in auto tuning mode 1

Operation of auto tuning mode 2

The block diagram for auto tuning mode 2 is shown below.
Command
Control gain
+
PG1, PG2,
-
VG2, VIC
Gain table
[Pr. PA08.0 Gain
adjustment mode
selection]
In auto tuning mode 2, the optimum control gain is automatically set based on the internal gain table, the value set for the load
inertia moment ratio ([Pr. PB06]), and the responsiveness ([Pr. PA09]).
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 2 are shown in the table below.
Servo parameter
PB07
PB08
PB09
PB10
3 ADJUSTMENT METHOD
48
3.4 Auto tuning mode 2
Automatic setting
+
-
Current feedback
Real-time auto tuning section
[Pr. PB06 Load to
motor inertia ratio/load
to motor mass ratio]
Symbol Name
PG1 Model control gain
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Load moment
of inertia
Encoder
Current
M
control
Servo motor
Position/speed feedback