Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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6 NORMAL GAIN ADJUSTMENT
6.1 Different adjustment methods
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6
NORMAL GAIN ADJUSTMENT
• In the torque mode, you do not need to make gain adjustment.
• Before making gain adjustment, check that your machine is not being operated at maximum torque of the
servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly. In
addition, make gain adjustment with a safety margin considering characteristic differences of each machine.
It is recommended that generated torque during operation is under 90% of the maximum torque of the servo
motor
• When you use a linear servo motor, replace the following words in the left to the words in the right.
Load to motor inertia ratio

Load to motor mass ratio
Torque

Thrust
• For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to the
following for details.

Page 256 Vibration suppression control manual mode
6.1
Different adjustment methods
Adjustment on a single servo amplifier
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain adjustment, first
execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, execute "Auto tuning mode 2" and
"Manual mode" in this order.
Gain adjustment mode explanation
Gain adjustment mode [Pr. PA08] setting Estimation of load to motor
inertia ratio Automatically set
parameters Manually set
parameters
Auto tuning mode 1 (initial value) _ _ _ 1 Always estimated GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10]) RSP ([Pr. PA09])
Auto tuning mode 2 _ _ _ 2 Fixed to [Pr. PB06] value PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10]) GD2 ([Pr. PB06])
RSP ([Pr. PA09])
Manual mode _ _ _ 3  GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 1
(interpolation mode) _ _ _ 0 Always estimated GD2 ([Pr. PB06])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10]) PG1 ([Pr. PB07])
RSP ([Pr. PA09])
2 gain adjustment mode 2 _ _ _ 4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10]) GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
RSP ([Pr. PA09])