Operation Of 2 Gain Adjustment Mode 1; Gain Adjustment Mode 2; Adjustment Procedure Of 2 Gain Adjustment Mode 2; Operation Of 2 Gain Adjustment Mode 2 - Mitsubishi Electric MELSERVO J5 Series User Manual

Operation of 2 gain adjustment mode 1

The block diagram of the 2 gain adjustment mode 1 is the same as that of the auto tuning mode 1. Servo parameters adjusted
automatically differ depending on the mode.
The following servo parameters are adjusted automatically with auto tuning in the 2 gain adjustment mode 1.
Servo parameter
PB06
PB08
PB09
PB10
3.6

2 gain adjustment mode 2

Use the 2 gain adjustment mode 2 if the one-touch tuning results do not satisfy the required performance or if gain adjustment
cannot be executed properly by the 2 gain adjustment mode 1. Since the load to motor inertia ratio is not estimated in this
mode, set the value of an accurate load to motor inertia ratio in [Pr. PB06]. Once one-touch tuning is complete, [Pr. PA08.0
Gain adjustment mode selection] will be automatically set to "4" (2 gain adjustment mode 2).

Adjustment procedure of 2 gain adjustment mode 2

Precautions
• Set the same value in [Pr. PB07 Model control gain] for the axis used in 2 gain adjustment mode 1 and 2.
Procedure Operation
1 Set load to motor inertia ratio ([Pr. PB06]).
2 Set the model control gain ([Pr. PB07]) of all the axes to be interpolated to
the same value. At that time, adjust the model loop gain ([Pr. PB07]) to the
setting value of the smallest axis.
3 During operation, increase the setting value of the auto tuning response
([Pr. PA09]), and return the setting if vibration occurs.
4 As the interpolation characteristics and the rotation status are visually
examined, increase the model loop gain ([Pr. PB07]), and return if an
overshoot occurs.

Operation of 2 gain adjustment mode 2

The block diagram of the 2 gain adjustment mode 2 is the same as that of the auto tuning mode 2. Servo parameters adjusted
automatically differ depending on the mode.
The following servo parameters are adjusted automatically by the 2 gain adjustment mode 2.
Servo parameter
PB08
PB09
PB10
Refer to the following for the servo parameter adjustment method of [Pr. PB07 Model control gain].
Page 45 Adjustment procedure of velocity mode
Page 47 Adjustment procedure of position mode
3 ADJUSTMENT METHOD
44
3.6 2 gain adjustment mode 2
Symbol Name
GD2 Load to motor inertia ratio/load to motor mass ratio
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Symbol Name
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Description
Check the load to motor inertia ratio
Set the model control gain.
Adjusting servo stability
Adjusting position trackability