What Is Auto Tuning - Mitsubishi Electric MELSERVO-J2 Series Instruction Manual

9. ADJUSTMENT

9.2.3 What is auto tuning?

The angular speed ( ) and torque (T) are estimated in accordance with the equation of motion (9.1) used
for motor acceleration/deceleration. In actuality, the acceleration/deceleration characteristics of the model
and those of the actual motor are compared to estimate the inertia moment of the load in real time.
d
T ..............................................(9.1)
J
dt
J : Inertia moment
: Angular speed
T : Torque
Real-time auto tuning is performed in the following procedure:
(1) When the motor makes acceleration/deceleration, load inertia moment JL is estimated in the above
method to calculate the load inertia moment ratio (GD2).
(2) Each gain (PG1, VG1, PG2, VG2, VIC) to the calculated load inertia moment ratio (GD2) is changed
according to the response level set in parameter No.3. Note that these gains have been patterned
beforehand to satisfy the aforementioned stabilization condition.
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