Mitsubishi Electric MR-J2-03B5, Instruction Manual

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6 - 3
6. ADJUSTMENT
6.2 Gain adjustment
6.2.1 Parameters required for gain adjustment
Parameter No. Symbol Name
8 ATU Auto tuning
9 RSP Servo response
12 GD2
Ratio of load inertia moment to servo motor inertia moment
(load inertia moment)
13 PG1 Position loop gain 1
14 VG1 Speed loop gain 1
15 PG2 Position loop gain 2
16 VG2 Speed loop gain 2
17 VIC Speed integral compensation
18 NCH Notch filter
6.2.2 Block diagram
The block diagram of the Servo amplifier servo control section is shown above. (The current loop is
omitted.)
PG1 VG1
PG2 VG2
VIC
J
M
ENC
L
J
M
ENC
Command
Actual loop
section
Virtual motor
Virtual encoder
Machine
Motor
Encoder
Model
section
Auto tuning
section
Notch filter
(1) Actual loop section
A control loop designed to control the actual motor and acts to control the servo system stably in
response to the load torque of the machine.
(2) Model section
Acts to provide the ideal operation values to the current loop in response to the command.
(3) Auto tuning section
Judges the load inertia moment of the machine fitted with the actual motor from the operation error of
the motor to change each control gain in real time.
The gains changed by auto tuning are PG1, VG1, PG2, VG2 and VIC.