Mitsumi electronic MR-J3- A Manual De Usuario
7 - 1
7. GENERAL GAIN ADJUSTMENT
7. GENERAL GAIN ADJUSTMENT
POINT
Consider individual machine differences, and do not adjust gain too strictly. It is
recommended to keep the servo motor torque to 90 or less of the maximum
torque of the servo motor during the operation.
For use in the torque control mode, you need not make gain adjustment.
recommended to keep the servo motor torque to 90 or less of the maximum
torque of the servo motor during the operation.
For use in the torque control mode, you need not make gain adjustment.
7.1 Different adjustment methods
7.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute
auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in
this order.
(1) Gain adjustment mode explanation
auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in
this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Parameter No.
PA08 setting
Estimation of load inertia
moment ratio
Automatically set
parameters
Manually set parameters
Auto tuning mode 1
(initial value)
(initial value)
0001
Always estimated
GD2 (parameter No.PB06)
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
RSP (parameter No.PA09)
Auto tuning mode 2
0002
Fixed to parameter No.
PB06 value
PB06 value
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
GD2 (parameter No.PB06)
RSP (parameter No.PA09)
RSP (parameter No.PA09)
Manual mode
0003
GD2 (parameter No.PB06)
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
Interpolation mode
0000
Always estimated
GD2 (parameter No.PB06)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
PG1 (parameter No.PB07)
RSP (parameter No.PA09)
RSP (parameter No.PA09)