Manual Mode; Adjustment Procedure For Velocity Mode - Mitsubishi Electric MR-J5 User Manual

3.7

Manual mode

When the auto tuning result is not satisfactory, manual adjustment with all of the gain can be performed.
Precautions
• If machine resonance occurs, [Pr. PB01.0 Filter tuning mode selection] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] can be used to suppress machine resonance. Refer to the following.
Page 60 Machine resonance suppression filter
Page 63 Adaptive filter II

Adjustment procedure for velocity mode

Servo parameter
The following servo parameters are used for gain adjustment.
Servo parameter
PB06
PB07
PB09
PB10
For the effect of each servo parameter, refer to the following diagram.
Explanation on servo parameter
[Pr. PB07 Model control gain]
This servo parameter determines the
responsiveness. Increasing the value
improves trackability to a position
command, but the servo motor speed is
likely to be higher than the command.
[Pr. PB09 Speed control gain]
This servo parameter determines the
responsiveness of the speed control loop.
Increasing the value improves the
responsiveness to the load disturbance, but
mechanical vibration is more likely to occur.
3 ADJUSTMENT METHOD
52
3.7 Manual mode
Symbol Name
GD2 Load to motor inertia ratio/load to motor mass ratio
PG1 Model control gain
VG2 Speed control gain
VIC Speed integral compensation
Effect when increasing the responsiveness
Command
Servo motor speed
Command
Servo motor speed
Operating status when increase in
responsiveness is excessive
Command
Servo motor speed
Time
Command
Servo motor speed
Time
Time
Occurrence of vibration and
unusual noise (high frequency)
Time