Gain Adjustment; Parameters Required For Gain Adjustment; Block Diagram - Mitsubishi melservo-j2 series Instruction Manual

9. ADJUSTMENT

9.2 Gain adjustment

9.2.1 Parameters required for gain adjustment

Parameter No.
No.3
No.7
No.22
No.34
No.35
No.36
No.37
No.38

9.2.2 Block diagram

Command
The block diagram of the servo amplifier servo control section is shown above. (The current loop is
omitted.)
(1) Actual loop section
A control loop designed to control the actual motor and acts to control the servo system stably in
response to the load torque of the machine.
(2) Model section
Acts to provide the ideal operation values to the current loop in response to the command.
(3) Auto tuning section
Judges the load inertia moment of the machine fitted with the actual motor from the operation error of
the motor to change each control gain in real time.
The gains changed by auto tuning are PG1, VG1, PG2, VG2 and VIC.
Symbol
ATU Auto tuning
PG1 Position loop gain 1
OP4 Function selection 4 (machine resonance filter)
GD2 Ratio of load inertia moment to motor inertia moment
PG2 Position loop gain 2
VG1 Speed loop gain 1
VG2 Speed loop gain 2
VIC Speed integral compensation
PG1 VG1
Auto tuning
section
PG2 VG2
VIC
Name
Virtual motor
J
M
Virtual encoder
OP4 Motor
J
M
Notch filter
9 - 3
ENC
Model
section
Machine
L
Encoder
ENC
Actual loop