Manual Mode - Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual

6. NORMAL GAIN ADJUSTMENT

6.4 Manual mode

If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.
(1) For speed control
(a) Parameter
The following parameters are used for gain adjustment.
(b) Adjustment procedure
POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Refer to section
7.2 to 7.3.)
Parameter Symbol
PB06
PB07
PB09
PB10
Step
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio/load to
3 motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a small value to the model loop gain.
4
Set a large value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual
5
noise-free range, and return slightly if vibration takes place.
Decrease the speed integral compensation within the vibration-
6 free range, and return slightly if vibration takes place.
Increase the model loop gain, and return slightly if overshoot
7
takes place.
If the gains cannot be increased due to mechanical system
resonance or the like and the desired response cannot be
8 achieved, response may be increased by suppressing resonance
with the adaptive tuning mode or machine resonance
suppression filter and then executing steps 3 to 7.
9 While checking the motor status, fine-adjust each gain.
GD2 Load to motor inertia ratio/load to motor mass ratio
PG1 Model loop gain
VG2 Speed loop gain
VIC Speed integral compensation
Operation
6 - 22
Name
Description
Increase the speed loop
gain.
Decrease the time
constant of the speed
integral compensation.
Increase the model loop
gain.
Suppression of machine
resonance
Refer to section 7.2 and
7.3.
Fine adjustment