Mitsubishi Electronics MR-J2S- A Interpolation mode, Parameter, Adjustment procedure

7. GENERAL GAIN ADJUSTMENT

7.4 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 model control gains (PG1, VG1) which determine command trackability are set manually and the other gains are set automatically.

(1) Parameter

PG1 and VG1 can be set manually but the following parameters are automatically adjusted by auto tuning.

Parameter No.	Abbreviation	Name
34	GD2	Ratio of load inertia moment to servo motor inertia moment
35	PG2	Position control gain 2
37	VG2	Speed control gain 2
38	VIC	Speed integral compensation

The following parameters are adjustable manually.

		Parameter No.		Abbreviation		Name
		6		PG1	Position control gain 1
		36		VG1	Speed control gain 1
(2) Adjustment procedure
	Step			Operation		Description
	1	Set "010	" in parameter No. 2.			Select the auto tuning mode 1.
2		During operation, increase the response level setting (parameter No. 2), and				Adjustment in auto tuning mode
		return the setting if vibration occurs.				1.
	3	Check the values of PG1 (parameter No. 6) and VG1 (parameter No. 36).				Check the upper setting limits.
4		Set "000	" in parameter No. 2.			Select the interpolation mode.

5Using the PG1 value checked in step 3 as the guideline of the upper limit, set in Set PG1. PG1 the value identical to the position loop gain of the axis to be interpolated.

Using the VG1 value checked in step 3 as the guideline of the upper limit, look

6at the rotation status and set in VG1 the value three or more times greater than Set VG1. the PG1 setting.

7Looking 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 (PG1: parameter No.6)

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)
	PG1 setting

(b)Speed control gain 1 (VG1: parameter No. 36)

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

VG1 setting PG1 setting 3

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