Mitsubishi HD-5000A Instruction Manual download pdf (Page 218)

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8. GENERAL GAIN ADJUSTMENT

1) Position control gain 1 (parameter No. 7)

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

control gain 1 improves track ability to a position command but a too high value will make

overshooting liable to occur at the time of settling.

Position control

gain 1 guideline

Speed control gain 2 setting

(1 ratio of load inertia moment to servo motor inertia moment)

(

)

2) Speed control gain 2 (VG2: parameter No. 37)

This parameter determines the response level of the speed control loop. Increasing this value

enhances response but a too high value will make the mechanical system liable to vibrate. The

actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response

frequency(Hz)

Speed control gain 2 setting

(1 ratio of load inertia moment to servo motor inertia moment)

3) Speed integral compensation (parameter No. 38)

To eliminate stationary deviation against a command, the speed control loop is under

proportional integral control. For the speed integral compensation, set the time constant of this

integral control. Increasing the setting lowers the response level. However, if the load inertia

moment ratio is large or the mechanical system has any vibratory element, the mechanical

system is liable to vibrate unless the setting is increased to some degree. The guideline is as

indicated in the following expression.

Speed integral

compensation setting(ms)

2000 to 3000

Speed control gain 2 setting/

(1 ratio of load inertia moment to

servo motor inertia moment 2 setting 0.1)

1 2 ... 213 214 215 216 217 218 219 220 221 222 223 ... 355 356

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Mitsubishi HD-5000A Instruction Manual Page 218