Gain Adjustment Mode - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

6.5

2 gain adjustment mode

The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the interpolation operation
of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that
determines command trackability. Other parameters for gain adjustment are set automatically.
2 gain adjustment mode 1
The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability. The mode constantly
estimates the load to motor inertia ratio, and automatically set other parameters for gain adjustment to optimum gains using
auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
■Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Parameter
PB06
PB08
PB09
PB10
■Manually adjusted parameter
The following parameters are adjustable manually.
Parameter
PA09
PB07
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.
■Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Parameter
PB08
PB09
PB10
■Manually adjusted parameter
The following parameters are adjustable manually.
Parameter
PA09
PB06
PB07
Symbol Name
GD2 Load to motor inertia ratio/load to motor mass ratio
PG2 Position loop gain
VG2 Speed loop gain
VIC Speed integral compensation
Symbol Name
RSP Auto tuning response
PG1 Model loop gain
Symbol Name
PG2 Position loop gain
VG2 Speed loop gain
VIC Speed integral compensation
Symbol Name
RSP Auto tuning response
GD2 Load to motor inertia ratio/load to motor mass ratio
PG1 Model loop gain
6 NORMAL GAIN ADJUSTMENT
6.5 2 gain adjustment mode
6
245