Operation Of 2 Gain Adjustment Mode 1 - Mitsubishi Electric MR-J5 User Manual

Servo parameter adjustment method
[Pr. PB07 Model control gain]
This servo parameter determines the response level of the position control loop. Increasing the model loop gain improves
trackability to the position command, but overshoot tends to occur at settling time. Number of droop pulses can be calculated
with the following formula.
Number of droop pulses [pulse] =
Position command frequency differs depending on the operation mode.
■For rotary servo motors and direct drive motors
Position command frequency =
■For linear servo motors
Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)

Operation of 2 gain adjustment mode 1

The block diagram for 2 gain adjustment mode 1 is the same as that for auto tuning mode 1. Servo parameters adjusted
automatically differ depending on the mode.
The following servo parameters are adjusted automatically with auto tuning in 2 gain adjustment mode 1.
Servo parameter
PB06
PB08
PB09
PB10
3 ADJUSTMENT METHOD
50
3.5 2 gain adjustment mode 1
Position command frequency [pulse/s]
Model control gain setting value
Servo motor speed [r/min]
× Encoder resolution (number of pulses per servo motor revolution)
60
Symbol Name
GD2 Load to motor inertia ratio/load to motor mass ratio
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation