Interpolation Mode - Mitsubishi Electric MR-J2S B Series Instruction Manual

6. GENERAL GAIN ADJUSTMENT

6.4 Interpolation mode

The interpolation mode is used to match the position control gains of the 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, the
position control gain 1 and speed control gain 1 which determine command track ability are set manually
and the other gain adjusting parameters are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No.
12
15
16
17
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
13
14
(2) Adjustment procedure
Step
Choose the auto tuning mode 1 (parameter No. 8: 0001) and set the machine
1
resonance frequency of the response level to 15Hz 1 (parameter No. 9: 0001).
During operation, increase the response level selection (parameter No. 9), and
2
return the setting if vibration occurs.
Check the values of position control gain 1 (parameter No. 13) and speed control
3
gain 1 (parameter No. 14).
4 Choose the interpolation mode (parameter No. 8: 0000).
Set the position control gain 1 of all the axes to be interpolated to the same
5 value. At that time, adjust to the setting value of the axis, which has the
smallest position control gain 1.
Using the speed control gain 1 value checked in step 3 as the guideline of the
6 upper limit, look at the rotation status and set in speed control gain 1 the value
three or more times greater than the position control gain 1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
7
gains and response level setting.
(3) Adjustment description
(a) Position control gain 1 (parameter No.13)
This parameter determines the response level of the position control loop. Increasing PG1 improves
track ability to a position command but a too high value will make overshooting liable to occur at
the time of settling. The droop pulse value is determined by the following expression.
Droop pulse value (pulse)
(b) Speed control gain 1 (parameter No. 14)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
Abbreviation
GD2 Ratio of load inertia moment to servo motor inertia moment
PG2 Position control gain 2
VG2 Speed control gain 2
VIC Speed integral compensation
Abbreviation
PG1 Position control gain 1
VG1 Speed control gain 1
Operation
Rotation speed (r/min)
60
Position control gain set value
6 - 11
Name
Name
Select the auto tuning mode 1.
Adjustment in auto tuning mode
1.
Check the upper setting limits.
Select the interpolation mode.
Set position control gain 1.
Set speed control gain 1.
Fine adjustment.
131,072(pulse)
Description