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

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

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