Responsiveness Setting In Auto Tuning Mode 2; Operation Of Auto Tuning Mode 2 - Mitsubishi Electric MELSERVO J5 Series User Manual

Responsiveness setting in auto tuning mode 2

Refer to the following.
Page 39 Responsiveness setting in auto tuning mode 1

Operation of auto tuning mode 2

The block diagram of the auto tuning mode 2 is shown below.
Command
Control gain
+
PG1, PG2,
-
VG2, VIC
Gain table
[Pr. PA08.0 Gain
adjustment mode
selection]
In the auto tuning mode 2, from the value set for the load inertia moment ratio ([Pr. PB06]) and the responsiveness ([Pr.
PA09]), and based on the internal gain table, the optimum control gain is automatically set.
The auto tuning results are saved in the non-volatile memory of the servo amplifier every 10 minutes since power-on. At
power-on, the auto tuning is performed with the value of each control gain saved in the non-volatile memory as an initial value.
The servo parameters that are automatically adjusted in the auto tuning mode 2 are shown in the table below.
Servo parameter
PB07
PB08
PB09
PB10
3 ADJUSTMENT METHOD
42
3.4 Auto tuning mode 2
Automatic setting
+
-
Current feedback
Real-time auto tuning section
[Pr. PB06 Load to
motor inertia ratio/load
to motor mass ratio]
Symbol Name
PG1 Model control gain
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Load moment
of inertia
Encoder
Current
M
control
Servo motor
Position/speed feedback