Mitsubishi Electric MR-JE-_A Instruction Manual page 220

6. NORMAL GAIN ADJUSTMENT
(3) Adjustment procedure of 2 gain adjustment mode
(4) Parameter adjustment
[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
trackability to a position command, but a too high value will make overshoot liable to occur at settling.
Number of droop pulses is determined by the following expression.
Number of droop pulses [pulse] =
Position command frequency =
revolution)
POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.
Step
Set to the auto tuning mode.
1
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.
Position command frequency [pulse/s]
Model loop gain setting
Speed [r/min]
60
Operation
× Encoder resolution (number of pulses per servo motor
6 - 33
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 model loop gain.
Fine adjustment