Mitsubishi Electric MELSERVO MR-J2 C Series, Instruction Manual

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9. ADJUSTMENT
9.4.4 When shortening the settling time
(1) Machine condition
The settling time will be increased by the gains provided by auto tuning.
(2) Adjustment procedure
1) Choose the response level setting of slow response.
Set 0101 in parameter No.3.
2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine
does not vibrate.
3) Set the load inertia moment ratio (machine inertia moment ratio in parameter No.34).
If an exact machine inertia moment ratio is unknown, enter an approximate value.
When the value is set in this parameter, the following parameters are set automatically. When
there is no machine resonance, the value of each parameter is set to the ideal gain for the load
inertia moment ratio (parameter No.34) value.
Parameter No. Symbol Name
7 PG1 Position loop gain 1
35 PG2 Position loop gain 2
36 VG1 Speed loop gain 1
37 VG2 Speed loop gain 2
38 VIC Speed integral compensation
4) Set "not executed" (parameter No.3: 2 ) by the auto tuning selection.
Make the parameter No.7, 35 to 38 settings manually adjustable.
5) Check the operating status and adjust the following parameter values:
Parameter No. Symbol Name Description
7 PG1 Position loop gain 1
35 PG2 Position loop gain 2
Higher setting shortens the settling time but is liable to
cause overshooting.
36 VG1 Speed loop gain 1
37 VG2 Speed loop gain 2
Higher setting improves the servo response level but is
liable to cause vibration.
38 VIC
Speed integral
compensation
Lower setting keeps the speed constant to load
disturbance and increases holding force at a stop (servo
rigidity) but is liable to cause overshooting.
Make adjustment by gradually increasing the parameter No.7, 35 to 37 settings at the same ratio and
reducing the speed integral compensation (parameter No.38). The optimum value is provided at the
point just before vibration increases. Use of the machine resonance suppression filter (parameter
No.22) may increase the limit point. Note that since the maximum value of the speed loop gain is
"2000", do not set a value greater than that.
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