Fuji Electric ALPHA7, User Manual

Page: 338 / 662

CHAPTER 5 SERVO ADJUSTMENT
Interpolation Control Mode
5-21
5
5.7 Interpolation Control Mode
Use the "interpolation control mode" to adjust command responses of a system with two or more
servomotor axes such as the X-Y table when performing synchronous operation or interpolation
operation.
5.7.1 Conditions for Interpolation Control Mode
Check the following conditions to perform adjustment.

Keep consistency in the mechanical configuration and specifications of each axis to the largest
extent (ball screw pitch, diameter, length, etc.).

The backlash of the mechanical system is not large and the belt is free from deflection.

Commands sent from the host are common among axes.
5.7.2 Parameters Used for Interpolation Control Mode
Parameters used for gain adjustment are shown in the table below.
The other parameters are automatically adjusted.
However, auto tuning gain 2 becomes disabled.
No. Name Approximate reference value
PA1_13 Tuning mode selection 3: Interpolation control mode
PA1_14 Load inertia ratio Enter a stable assumed value (or average value).
PA1_15 Auto tuning gain 1
Enter while referring to "5.4.3 Approximate
Reference Value of Auto Tuning Gain 1."
PA1_51 Moving average S-curve time 0
PA1_54
Position command response
time constant
5 or over