Mitsubishi HD-5000A Instruction Manual download pdf (Page 219)

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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 track ability 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

Set 15Hz (parameter No. 3: 010

) as the machine resonance frequency of response

in the auto tuning mode 1.

Select the auto tuning mode 1.

During operation, increase the response level setting (parameter No. 2), and

return the setting if vibration occurs.

djustment in auto tuning mode

Check the values of position control gain 1 (parameter No. 7) and speed control

gain 1 (parameter No. 36).

Check the upper setting limits.

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

Set the position control gain 1 of all the axes to be interpolated to the same

value. At that time, adjust to the setting value of the axis, which has the

smallest position control gain 1.

Set position control gain 1.

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

upper limit, look at the rotation status and set in speed control gain 1 the value

three or more times greater than the position control gain 1 setting.

Set speed control gain 1.

Looking at the interpolation characteristic and rotation status, fine-adjust the

gains and response level setting.

Fine adjustment.

(3) Adjustment description

(a) 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. The droop pulse value is determined by the

following expression.

Droop pulse value (pulse)

Position control gain 1 setting

Rotation speed (r/min) 131,072(pulse)

(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

1 2 ... 214 215 216 217 218 219 220 221 222 223 224 ... 355 356

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Mitsubishi HD-5000A Instruction Manual Page 219

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