Mitsubishi Electric MR-J4 B Series Instruction Manual page 162

6. NORMAL GAIN ADJUSTMENT
6.5 2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command track ability. Other parameters for gain
adjustment are set automatically.
(1) 2 gain adjustment mode 1 (interpolation mode)
The 2 gain adjustment mode 1 manually set the model loop gain that determines command track ability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter
The following parameters are adjustable manually.
(2) 2 gain adjustment mode 2
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Parameter Symbol
PB06 GD2
PB08 PG2
PB09 VG2
PB10 VIC
Parameter Symbol
PA09 RSP
PB07 PG1
Parameter Symbol
PB08 PG2
PB09 VG2
PB10 VIC
Parameter Symbol
PA09 RSP Auto tuning response
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB07 PG1 Model loop gain
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Load to motor inertia ratio/load to motor mass ratio
Position loop gain
Speed loop gain
Speed integral compensation
Auto tuning response
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
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