8. GENERAL GAIN ADJUSTMENT

8.4 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 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.

(1) Parameter

(a) Automatically adjusted parameters

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

(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.

Abbreviation

Name

7

PG1

Position control gain 1

36

VG1

Speed control gain 1

(2) Adjustment procedure

Step

Operation

Description

1Set 15Hz (parameter No. 3: 010) as the machine resonance frequency of response Select the auto tuning mode 1. in the auto tuning mode 1.

2During operation, increase the response level setting (parameter No. 2), and Adjustment in auto tuning mode

return the setting if vibration occurs.1.

3Check the values of position control gain 1 (parameter No. 7) and speed control Check the upper setting limits. gain 1 (parameter No. 36).

4

Set the interpolation mode (parameter No. 3: 000 ).

Select the interpolation mode.

 

Using the position control gain 1 value checked in step 3 as the guideline of the

 

5upper limit, set in PG1 the value identical to the position loop gain of the axis to Set position control gain 1. be interpolated.

Using the speed control gain 1 value checked in step 3 as the guideline of the

6upper 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.

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 (parameter No.6)

This parameter determines the response level of the position control loop. Increasing position control gain 1 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 setting

 

 

 

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

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

8 - 10

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Mitsubishi Electronics MR-J2S- CL specifications Interpolation mode, Adjustment procedure, Adjustment description, PG2, Vic
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MR-J2S- CL specifications

Mitsubishi Electronics has long been a pioneer in automation and control technology, and one of its prominent offerings is the MR-J2S-CL servo amplifier. Designed to enhance the performance of servo motors, the MR-J2S-CL is a critical component in various applications, ranging from industrial machinery to robotics.

One of the standout features of the MR-J2S-CL is its high-performance control capabilities. This servo amplifier supports both position and speed control, enabling precise movement and responsiveness in dynamic applications. The MR-J2S-CL boasts a sophisticated control algorithm that ensures superior torque response, making it ideal for applications that require quick and accurate motion control.

The MR-J2S-CL employs advanced features such as the Auto-Tuning function, which automatically adjusts the servo settings to optimize performance for the specific load conditions. This automation simplifies setup processes and reduces downtime, allowing users to quickly configure the system to their needs.

In terms of connectivity, the MR-J2S-CL is equipped with various communication options, including the CC-Link and Mitsubishi's own MELSEC communications. These options facilitate seamless integration with other devices and control systems, enhancing the overall interoperability of factory automation setups.

Another critical aspect of the MR-J2S-CL is its built-in safety features. The amplifier includes functionalities like safe torque off (STO) and overcurrent protection, which contribute to the overall safety of the operation. These safety measures are essential in reducing the risk of accidents in environments where human interaction occurs alongside machinery.

The MR-J2S-CL is designed with durability and reliability in mind. It has a robust construction that is capable of withstanding harsh industrial environments, including high temperatures and dust exposure. This resilience ensures a long service life, reducing maintenance needs and operational costs.

Furthermore, the MR-J2S-CL is compatible with a wide range of Mitsubishi servo motors, making it a versatile choice for various applications. Its comprehensive capabilities, combined with user-friendly interface options, allow for easy programming and monitoring of performance.

In summary, the Mitsubishi Electronics MR-J2S-CL servo amplifier stands out for its high-performance control, advanced safety features, and robust design. It effectively meets the demands of various industrial applications, making it a valuable asset in modern automation and manufacturing environments. With its blend of precision, reliability, and flexibility, the MR-J2S-CL continues to be a preferred choice for engineers and manufacturers alike.
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