Mitsubishi Electric MELSERVO-J4 series, Инструкция по эксплуатации

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6 NORMAL GAIN ADJUSTMENT
6.4 Manual mode
6.4
Manual mode
If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or machine resonance suppression
filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance.

Page 247 Machine resonance suppression filter

Page 250 Adaptive filter II
For speed control
■ Parameter
The following parameters are used for gain adjustment.
■
Adjustment procedure
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
Step Operation Description
1 Brief-adjust with auto tuning. Refer to the following.
 Page 239 Adjustment procedure by auto tuning

2 Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3).

3 Set the estimated value to the load to motor inertia ratio/load to motor mass ratio. (If the estimate
value with auto tuning is correct, setting change is not required.)

4 Set a small value to the model loop gain.
Set a large value to the speed integral compensation.

5 Increase the speed loop gain within the vibration- and unusual noise-free range, and return slightly if
vibration takes place. Increase the speed loop gain.
6 Decrease the speed integral compensation within the vibration-free range, and return slightly if
vibration takes place. Decrease the time constant of the speed
integral compensation.
7 Increase the model loop gain, and return slightly if overshoot takes place. Increase the model loop gain.
8 If the gains cannot be increased due to mechanical system resonance or the like and the desired
response cannot be achieved, response may be increased by suppressing resonance with the
adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 7. Suppression of machine resonance

Page 247 Machine resonance
suppression filter

Page 250 Adaptive filter II
9 While checking the motor status, fine-adjust each gain. Fine adjustment