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

3.6

2 gain adjustment mode 2

Use 2 gain adjustment mode 2 if the one-touch tuning results do not satisfy the required performance or if gain adjustment
cannot be executed properly by 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this mode,
set the value of an accurate load to motor inertia ratio in [Pr. PB06]. Once one-touch tuning is complete, [Pr. PA08.0 Gain
adjustment mode selection] will be automatically set to "4" (2 gain adjustment mode 2).

Adjustment procedure for 2 gain adjustment mode 2

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 load to motor inertia ratio ([Pr. PB06]).
2 Set the model control gain ([Pr. PB07]) 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.
3 During operation, increase the setting value of the auto tuning response
([Pr. PA09]), and return the setting if vibration occurs.
4 As the interpolation characteristics and the rotation status are visually
examined, increase the model loop gain ([Pr. PB07]), and return if an
overshoot occurs.

Operation of 2 gain adjustment mode 2

The block diagram for 2 gain adjustment mode 2 is the same as that for auto tuning mode 2. Servo parameters adjusted
automatically differ depending on the mode.
The following servo parameters are adjusted automatically with auto tuning in 2 gain adjustment mode 2.
Servo parameter
PB08
PB09
PB10
Refer to the following for the servo parameter adjustment method of [Pr. PB07 Model control gain].
Page 52 Adjustment procedure for velocity mode
Page 55 Adjustment procedure for position mode and positioning mode
Symbol Name
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Description
Check the load to motor inertia ratio
Set the model control gain.
Adjusting servo stability
Adjusting position trackability
3 ADJUSTMENT METHOD
3.6 2 gain adjustment mode 2
3
51