Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

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9 - 6
9. GENERAL GAIN ADJUSTMENT
9.2.4 Response level setting in auto tuning mode
Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level
setting is increased, the track ability and settling time for a command decreases, but a too high response level
will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, adaptive tuning mode (parameter No.PB01) or machine resonance suppression filter
(parameter No.PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance
may allow the response level setting to increase. Refer to section 10.2 and 10.3 for adaptive tuning mode and
machine resonance suppression filter.
Setting of parameter No.PA09
Response level setting
Machine characteristic
Machine rigidity
Machine resonance
frequency guideline
Guideline of corresponding machine
1 Low 10.0
Large conveyor
Arm robot
General machine
tool conveyor
Precision
working
machine
Inserter
Mounter
Bonder
2 11.3
3 12.7
4 14.3
5 16.1
6 18.1
7 20.4
8 23.0
9 25.9
10 29.2
11 32.9
12 37.0
13 41.7
14 47.0
15 52.9
16 Middle 59.6
17 67.1
18 75.6
19 85.2
20 95.9
21 108.0
22 121.7
23 137.1
24 154.4
25 173.9
26 195.9
27 220.6
28 248.5
29 279.9
30 315.3
31 355.1
32 High 400.0