Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003, Instruction Manual

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7. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position control
gain 1 improves track ability to a position command but a too high value will make overshooting liable
to occur at the time of settling.
(1 ratio of load inertia moment to servo motor inertia moment)
1
3 1
5
to
Speed control gain 2 setting
Position control
gain 1 guideline
2) Speed control gain 2 (VG2: parameter No.37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The actual
response frequency of the speed loop is as indicated in the following expression.
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
Speed loop response
frequency(Hz)
3) Speed integral compensation (parameter No.38)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.
Speed control gain 2 setting/(1 ratio of load inertia moment to
servo motor inertia moment 2 setting 0.1)
2000 to 3000
Speed integral compensation
setting(ms)
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