Auto Tuning Mode 1; Restrictions On Auto Tuning Mode 1; Precautions On Auto Tuning Mode 1 - Mitsubishi Electric MR-J5 User Manual

3.3

Auto tuning mode 1

The servo amplifier has a real-time auto tuning function which estimates the machine characteristics (load to motor inertia
ratio) in real time and automatically sets the optimum gain according to that value. This function allows easier gain adjustment
of the servo amplifier.
In auto tuning mode 1, the load to motor inertia ratio of a machine is always estimated, and the optimum gain is automatically
set. This mode is the optimum method for adjustment with the response waveform being checked when the load to motor
inertia ratio of a device is unknown.

Restrictions on auto tuning mode 1

All of the following conditions should be satisfied to use auto tuning mode 1.
• The time until the acceleration/deceleration time constant reaches 2000 r/min (mm/s) is 5 s or less.
• The servo motor speed is 50 r/min (mm/s) or higher.
• The load to the servo motor or direct drive motor inertia ratio (the load to mass of the linear servo motor primary-side ratio)
is 100 times or less.
• The acceleration/deceleration torque is 10 % or more of the rated torque.
The auto tuning may not function properly under operating conditions where sudden disturbance torque is applied during
acceleration/deceleration, or in machines with low rigidity. In such cases, use auto tuning mode 2 or manual mode to adjust
the gain.

Precautions on auto tuning mode 1

If sudden disturbance torque is applied during operation, the load to motor inertia ratio may be miscalculated temporarily. In
such a case, set [Pr. PA08.0 Gain adjustment mode selection] to "2" (Auto tuning mode 2), and then set the accurate load to
motor inertia ratio in [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio].
When auto tuning mode 1 is changed to manual mode, the current control gain and the load to motor inertia ratio estimation
value are saved in the non-volatile memory.
3 ADJUSTMENT METHOD
42
3.3 Auto tuning mode 1