Bose MR-J2S- B Interpolation mode, Parameter, Adjustment procedure, Adjustment description

6. GENERAL GAIN ADJUSTMENT

6.4 Interpolation mode

The interpolation mode is used to match the position control 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, the position control gain 1 and speed control gain 1 which determine command trackability are set manually and the other gain adjusting parameters are set automatically.

(1) Parameter

(a) Automatically adjusted parameters

The following parameters are automatically adjusted by auto tuning.

Parameter No.	Abbreviation	Name
12	GD2	Ratio of load inertia moment to servo motor inertia moment
15	PG2	Position control gain 2
16	VG2	Speed control gain 2
17	VIC	Speed integral compensation

(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.	Abbreviation	Name
13	PG1	Position control gain 1
14	VG1	Speed control gain 1

(2) Adjustment procedure

Step	Operation	Description
1	Choose the auto tuning mode 1 (parameter No. 8: 0001) and set the machine	Select the auto tuning mode 1.
	resonance frequency of the response level to 15Hz 1 (parameter No. 9: 0001).
2	During operation, increase the response level setting (parameter No. 9), and	Adjustment in auto tuning mode
	return the setting if vibration occurs.	1.
3	Check the values of position control gain 1 (parameter No. 13) and speed control	Check the upper setting limits.
	gain 1 (parameter No. 14).
4	Choose the interpolation mode (parameter No. 8: 0000).	Select the interpolation mode.
	Using the position control gain 1 value checked in step 3 as the guideline of the
5	upper limit, set in position control gain 1 the value identical to the position loop	Set position control gain 1.
	gain of the axis to be interpolated.
	Using the speed control gain 1 value checked in step 3 as the guideline of the
6	upper limit, look at the rotation status and set in speed control gain 1 the value	Set speed control gain 1.
	three or more times greater than the position control gain 1 setting.
7	Looking at the interpolation characteristic and rotation status, fine-adjust the	Fine adjustment.
	gains and response level setting.

(3) Adjustment description

(a) Position control gain 1 (parameter No.13)

This parameter determines the response level of the position control loop. Increasing PG1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling. The droop pulse value is determined by the following expression.

Droop pulse value (pulse)	Rotation speed (r/min) 131,072(pulse)
	Position control gain 1 set value

(b)Speed control gain 1 (parameter No. 14)

Set the response level of the speed loop of the model. Make setting using the following expression as a guideline.

Speed control gain 1 setting Position control gain 1 setting 3

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