Mitsubishi Electric MELSERVO-J4 series Instruction Manual page 204

6. NORMAL GAIN ADJUSTMENT
(2) 2 gain adjustment mode 2
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter
The following parameters are adjustable manually.
(3) Adjustment procedure of 2 gain adjustment mode
Parameter Symbol
PB08
PB09
PB10
Parameter Symbol
PA09
PB06
PB07
POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.
Step
1 Set to the auto tuning mode.
During operation, increase the response level setting value in [Pr.
2
PA09], and return the setting if vibration occurs.
Check value of the model loop gain and the load to motor inertia
3
ratio in advance.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0).
4
When the load to motor inertia ratio is different from the design
5 value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4)
and then set the load to motor inertia ratio manually in [Pr. PB06].
Set the model loop gain of all the axes to be interpolated to the
6 same value. At that time, adjust to the setting value of the axis,
which has the smallest model loop gain.
Considering the interpolation characteristic and motor status,
7
fine-adjust the model loop gain and response level setting.
PG2 Position loop gain
VG2 Speed loop gain
VIC Speed integral compensation
RSP Auto tuning response
GD2 Load to motor inertia ratio/load to motor mass ratio
PG1 Model loop gain
Operation
6 - 17
Name
Name
Description
Select the auto tuning
mode 1.
Adjustment in auto tuning
mode 1.
Check the upper setting
limits.
Select the 2 gain
adjustment mode 1
(interpolation mode).
Check the load to motor
inertia ratio.
Set position loop gain.
Fine adjustment