Mitsumi electronic MR-J3- A Manual De Usuario

7 - 3

7. GENERAL GAIN ADJUSTMENT

7.2 Auto tuning

7.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No.

Abbreviation

Name

PB06

GD2

Ratio of load inertia moment to servo motor inertia moment

PB07

PG1

Model loop gain

PB08

PG2

Position loop gain

PB09

VG2

Speed loop gain

PB10

VIC

Speed integral compensation

POINT

The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.

Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is 100 times or
less.

The acceleration/deceleration torque is 10 or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment
ratio (parameter No.PB06).
The following parameters are automatically adjusted in the auto tuning mode 2.