Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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6 NORMAL GAIN ADJUSTMENT
6.5 2 gain adjustment mode
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6
6.5
2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the interpolation operation
of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that
determines command trackability. Other parameters for gain adjustment are set automatically.
2 gain adjustment mode 1
The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability. The mode constantly
estimates the load to motor inertia ratio, and automatically set other parameters for gain adjustment to optimum gains using
auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
■
Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
■ Manually adjusted parameter
The following parameters are adjustable manually.
2 gain adjustment mode 2
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1. Since the load
to motor inertia ratio is not estimated in this mode, set the value of a proper load to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
■
Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
■
Manually adjusted parameter
The following parameters are adjustable manually.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
Parameter Symbol Name
PA09 RSP Auto tuning response
PB07 PG1 Model loop gain
Parameter Symbol Name
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
Parameter Symbol Name
PA09 RSP Auto tuning response
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB07 PG1 Model loop gain