Normal Gain Adjustment; Different Adjustment Methods; Adjustment On A Single Servo Amplifier - Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual

6. NORMAL GAIN ADJUSTMENT

6. NORMAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment,
execute "Auto tuning mode 2" and "Manual mode" in this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Auto tuning mode 1
(initial value)
Auto tuning mode 2
Manual mode
2 gain adjustment mode 1
(interpolation mode)
2 gain adjustment mode 2
POINT
In the torque control mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.
When you use a linear servo motor, replace the following words in the left to the
words in the right.
Load to motor inertia ratio
Torque
(Servo motor) speed
For the vibration suppression control tuning mode, the setting range of [Pr.
PB07] is limited. For the vibration suppression control tuning mode, the setting
range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) for details.
Estimation of load to motor
[Pr. PA08] setting
_ _ _ 1 Always estimated
_ _ _ 2 Fixed to [Pr. PB06] value
_ _ _ 3
_ _ _ 0 Always estimated
_ _ _ 4 Fixed to [Pr. PB06] value
→ Load to motor mass ratio
→ Thrust
→ (Linear servo motor) speed
Automatically set
inertia ratio
GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
GD2 ([Pr. PB06])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
6 - 1
Manually set
parameters parameters
RSP ([Pr. PA09])
GD2 ([Pr. PB06])
RSP ([Pr. PA09])
GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
PG1 ([Pr. PB07])
RSP ([Pr. PA09])
GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
RSP ([Pr. PA09])