Interpolation Mode - Mitsubishi Electric MR-E A Series Instruction Manual

7. GENERAL GAIN ADJUSTMENT

7.4 Interpolation mode

The interpolation mode is used to match the position control 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, the
position control gain 2 and speed control gain 2 which determine command trackability are set manually
and the other parameter for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
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Parameter No.
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
(2) Adjustment procedure
Step
Set 15Hz (parameter No. 2: 010 ) as the machine resonance frequency of response
1
in the auto tuning mode 1.
During operation, increase the response level setting (parameter No. 2), and
2
return the setting if vibration occurs.
Check the values of position control gain 1 (parameter No. 6) and speed control
3
gain 1 (parameter No. 36).
4 Set the interpolation mode (parameter No. 2: 000 ).
Using the position control gain 1 value checked in step 3 as the guideline of the
upper limit, set in PG1 the value identical to the position loop gain of the axis to
5
be interpolated.
Using the speed control gain 1 value checked in step 3 as the guideline of the
6 upper limit, look at the rotation status and set in speed control gain 1 the value
three or more times greater than the position control gain 1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
7
gains and response level setting.
(3) Adjustment description
(a) Position control gain 1 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves trackability to a position command but a too high value will make
overshooting liable to occur at the time of settling. The droop pulse value is determined by the
following expression.
Droop pulse value (pulse)
(b) Speed control gain 1 (parameter No. 36)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
Abbreviation
34 GD2
35 PG2
37 VG2
38 VIC
Abbreviation
6 PG1
36 VG1
Rotation speed (r/min)
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation
Position control gain 1
Speed control gain 1
Operation
131,072(pulse)
60
Position control gain 1 setting
7 - 10
Name
Name
Description
Select the auto tuning mode 1.
Adjustment in auto tuning mode
1.
Check the upper setting limits.
Select the interpolation mode.
Set position control gain 1.
Set speed control gain 1.
Fine adjustment.