Mitsubishi Electric MELSERVO MR-J2 C Series, Instruction Manual

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9. ADJUSTMENT
9.4 Manual gain adjustment
On some machines, gain adjustment may not be made by auto tuning or excellent gain setting may not be
made if gain adjustment is performed by auto tuning. In this case, adjust the gains manually. Use any of
the methods given in this section to adjust the gains.
9.4.1 When machine rigidity is low
(1) Machine condition
Because of low machine rigidity, the response level setting of auto tuning is set to slow response and it
takes too much time to reach the target position.
When the machine or motor shaft is moved lightly at a stop, it moves easily.
(2) Adjustment procedure
(a) Adjustment 1
1) Execute auto tuning with the response level setting of the level at which machine will not
vibrate.
Set "0101" in parameter No.3.
2) Set "Not executed" (parameter No.3: 2 ) by the auto tuning selection.
3) Gradually decrease the speed integral compensation VIC (parameter No.38) setting.
(b) Adjustment 2
1) Perform auto tuning with the response level setting of slow response.
Set "0101" in parameter No.3.
2) Set 563Hz or 375Hz to the machine resonance filter (Parameter No.22).
3) Alternate a start and a stop several times, execute auto tuning, and check whether the machine
does not vibrate.
4) If the machine condition does not become excellent after the above adjustment, reduce the
setting of speed integral compensation (parameter No.38) as in Adjustment 1.
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