Adjustment Procedure Of Position Mode - Mitsubishi Electric MELSERVO J5 Series User Manual

■[Pr. PB10 Speed integral compensation]
As a guide, this servo parameter can be calculated with the following formula.
Speed integral compensation setting value [ms]
2000 to 3000
≥
Speed control gain/(1 + Load to motor inertia ratio)
If the setting value is less than the calculated value, vibration may occur.

Adjustment procedure of position mode

Servo parameter
The following servo parameters are used for gain adjustment.
Servo parameter
PB06
PB07
PB08
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 an overshoot is likely to
occur.
[Pr. PB08 Position control gain]
This parameter is set for increasing the
position response to load disturbance.
Increasing the value improves the
responsiveness, but vibration and noise are
likely to occur.
[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
the mechanical vibration is likely to occur.
Symbol Name
GD2 Load to motor inertia ratio/load to motor mass ratio
PG1 Model control gain
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Effect when increasing the responsiveness
Command
Effect on reducing the settling time
Command
Effect on reducing the settling time
Command
Effect on reducing the settling time
Operating status when increase in
responsiveness is excessive
Droop pulses
Command
Time
Droop pulses
Command
Time
Occurrence of vibration and unusual noise (low frequency)
Droop pulses
Command
Time
Occurrence of vibration and unusual noise (high frequency)
Droop pulses
Time
Occurrence of overshoot
Droop pulses
Time
Droop pulses
Time
3 ADJUSTMENT METHOD
3.7 Manual mode
3
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