Mitsubishi Electronics MR-J2S- A Manual mode 1 simple manual adjustment, Operation of manual mode

7. GENERAL GAIN ADJUSTMENT

7.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters.

7.3.1 Operation of manual mode 1

In this mode, setting the three gains of PG1 (position control gain 1), VG2 (speed control gain 2) and VIC (speed integral compensation) automatically sets the other gains to the optimum values according to these gains.

User setting	GD2
PG1		PG2
VG2
	Automatic setting	VG1
VIC

Therefore, you can adjust the model adaptive control system in the same image as the general PI control system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment in this mode, set the load inertia moment ratio (parameter No. 34) correctly.

7.3.2 Adjustment by manual mode 1

POINT

If machine resonance occurs, adaptive vibration suppression control (parameter No. 60) or machine resonance suppression filter (parameter No. 58 59) may be used to suppress machine resonance. (Refer to Section 8.1.)

(1) For speed control

(a) Parameters

The following parameters are used for gain adjustment:

Parameter No.	Abbreviation	Name
34	GD2	Ratio of load inertia moment to servo motor inertia moment
37	VG2	Speed control gain 2
38	VIC	Speed integral compensation

(b) Adjustment procedure

Step Operation Description

1Set an estimated value to the ratio of load inertia moment to servo motor inertia moment (parameter No. 34).

Increase the speed control gain 2 (parameter No. 37) within the Increase the speed control gain.

2vibration- and unusual noise-free range, and return slightly if vibration takes place.

3Decrease the speed integral compensation (parameter No. 38) within Decrease the time constant of the speed

the vibration-free range, and return slightly if vibration takes place. integral compensation.

If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance the like and the desired response cannot be achieved, response may be Refer to Section 8.1.

4increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3.

5While checking the settling characteristic and rotational status, fine- Fine adjustment adjust each gain.

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