Gain Adjustment Mode 1; Adjustment Procedure For 2 Gain Adjustment Mode 1 - Mitsubishi Electric MR-J5 User Manual

3.5

2 gain adjustment mode 1

Use the 2 gain adjustment mode to match the position control gains of each 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, manually set the model control gain that
determines command trackability. Other servo parameters are set automatically.
For 2 gain adjustment mode 1, manually set the model control gain that determines command trackability. The mode
constantly estimates the load to motor inertia ratio and automatically sets other servo parameters for optimum gains in
accordance with the responsiveness of auto tuning.

Adjustment procedure for 2 gain adjustment mode 1

• When the MR-J5_-_G_ or MR-J5-_A_ with firmware version C4 or later is used, it is recommended to set
[Pr. PA24.5 Load to motor inertia ratio/load to motor mass ratio estimation higher precision selection] to "1".
When [Pr. PA24.5] is set to "0", [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] may be
estimated at a value smaller than the accurate estimation depending on the operation pattern. Setting [Pr.
PA24.5] to "1" with the equipment on which the gain is adjusted may change the actual movement. Check
the movement of the equipment after changing the settings.
Precautions
• Set the same value in [Pr. PB07 Model control gain] for the axis used in 2 gain adjustment mode 1 and 2.
Procedure Operation
1 Set to the auto tuning mode.
2 During operation, increase the setting value of auto tuning response ([Pr.
PA09]) and return the setting if vibration occurs.
3 Check the value of the model control gain ([Pr. PB07]) and the load to
motor inertia ratio ([Pr. PB06]).
4 Set [Pr. PA08.0 Gain adjustment mode selection] to "0" (2 gain
adjustment mode 1).
5 When the load to motor inertia ratio is different from the design value, set
[Pr. PA08.0 Gain adjustment mode selection] to "4" (2 gain adjustment
mode 2), then afterwards set the load to motor inertia ratio ([Pr. PB06]).
6 Set the model control gain of all the axes to be interpolated to the same
value. At that time, adjust the model loop gain ([Pr. PB07]) to the setting
value of the smallest axis.
7 During operation, increase the setting value of the auto tuning response
([Pr. PA09]), and return the setting if vibration occurs.
8 While checking the interpolation characteristics and the rotation status,
increase the model control gain ([Pr. PB07]), and return the gain if an
overshoot occurs.
Description
Select auto tuning mode 1.
Adjustment using auto tuning mode 1
Check the upper setting limits.
Select 2 gain adjustment mode 1 (interpolation mode).
Check the load to motor inertia ratio
Set the model control gain.
Adjusting servo stability
Adjusting position trackability
3 ADJUSTMENT METHOD
3.5 2 gain adjustment mode 1
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