Operation Of Quick Tuning; Errors In Quick Tuning - Mitsubishi Electric MR-J5 User Manual

Operation of quick tuning

When quick tuning is started, the servo amplifier applies vibration torque instantly, then adjusts each gain and the machine
resonance suppression filter by using the response from that excitation. The maximum vibration torque that can be applied is
60 % of the rated torque. However, the vibration torque is limited by the torque limit value when the torque limit value is less
than 60 % of the rated torque. The adjustment takes about 300 ms.
When magnetic pole detection is executed, quick tuning will be started after the magnetic pole detection.
Once gain adjustment by quick tuning is complete, the gain can be changed as in the manual mode. In addition, the load to
motor inertia ratio will be always estimated as in auto tuning mode 1 after gain adjustment.
Start of quick tuning
Torque
60 % of rated
torque
-60 % of rated
torque
Speed
Approx. 300 [ms]
The following servo parameters are adjusted automatically in quick tuning.
No. Symbol Name
PB01 FILT Adaptive tuning mode (adaptive filter II)
PB06 GD2 Load to motor inertia ratio/load to motor
mass ratio
PB07 PG1 Model control gain
PB08 PG2 Position control gain
PB09 VG2 Speed control gain
PB10 VIC Speed integral compensation
PB11 VDC Speed differential compensation
PB13 NH1 Machine resonance suppression filter 1
PB14 NHQ1 Notch shape selection 1
PB15 NH2 Machine resonance suppression filter 2
PB16 NHQ2 Notch shape selection 2
PB18 LPF Low-pass filter setting
PB23.1  Low-pass filter selection
PB50 NH5 Machine resonance suppression filter 5
PB51 NHQ5 Notch shape selection 5

PE41.0 Robust filter selection

Errors in quick tuning

Quick tuning may fail under the following conditions:
• When torque reaches the torque limit value during quick tuning
• When the travel distance for quick tuning exceeds the set value in [Pr. PA34 Quick tuning - Permissible travel distance]
When quick tuning fails, the servo parameter values from before quick tuning will be restored.
Gain adjustment complete
Setting value after gain adjustment
Automatic setting
The setting value is set depending on the response waveform during servo motor
driving after gain adjustment.
Automatic setting
Initial value
Automatic setting
Initial value
1
Automatic setting
Initial value
Time
Time
3 ADJUSTMENT METHOD
3.1 Quick tuning
3
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