Mitsubishi Electric MR-J3-B-RJ006, Instruction Manual

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4. OPERATION AND FUNCTIONS
4.1.7 Setting of fully closed loop dual feedback filter
With the initial value (setting = 10) set in parameter No.PE08, make gain adjustment by auto tuning, etc. as in
semi closed loop control.
While observing the servo operation waveform with the graph function, etc. of the servo configuration software,
adjust the dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
Parameter No.PE08
setting value
Control mode Vibration Settling time
0 Semi closed loop
1 to 4499 Dual feedback
Hard-to-occur to
Easy-to-occur
Longer to Shorter
4500 Fully closed loop
Increasing the dual feedback filter setting shortens the settling time, but increases motor vibration since the
motor is more likely to be influenced by the load side encoder vibration.
The maximum setting of the dual feedback filter should be less than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Droop pulses
Command
Droop pulses
Command
Time Time
Suppression of vibration: Decrease the dual feedback filter setting.
Droop pulses
Command
Droop pulses
Command
Time Time