Mitsubishi Electric MR-J2-03B5, Instruction Manual

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6. ADJUSTMENT
6.4 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.
6.4.1 When machine rigidity is low
(1) Machine condition
Because of low machine rigidity, the response selection of auto tuning is set to low 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 selection of the level at which machine will not vibrate.
Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.
2) Set "Not executed" (parameter No. 8: 0002) 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 selection of low response.
Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.
2) Set the notch filter (parameter No. 18) in order from higher to lower frequencies.
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. 17) in Adjustment 1.