CHAPTER 5 SERVO ADJUSTMENT

5.6 Interpolation Operation Mode

Use the "interpolation operation mode" to adjust command responses of a system with two or more

servomotor axes such as the X-Y table when performing synchronous operation or interpolation

operation.

5.6.1 Conditions for Interpolation Operation Mode

Check the following conditions to perform adjustment.

 Keep consistency in the mechanical configuration and specifications of each axis to the largest

extent (ball screw pitch, diameter, length, etc.).

 The backlash of the mechanical system is not large and the belt is free from deflection.

 Commands sent from the host are common among axes.

5

5.6.2 Parameters Used for Interpolation Operation Mode

Parameters used for gain adjustment are shown in the table below.

No.

Name

PA1_13 Tuning mode selection

PA1_14 Load inertia ratio

PA1_15 Auto tuning gain 1

PA1_51

PA1_54

Moving average S-curve time

Position command response

time constant

Approximate reference value

13: Interpolation operation mode

Enter a stable assumed value (or average value).

Enter while referring to "5.3.3 Approximate

Reference Value of Auto Tuning Gain 1."

0

5 or over

The adjustment parameters other than those in the table above are automatically adjusted.

However, auto tuning gain 2 becomes disabled.

Interpolation Operation Mode 5-19