Mitsubishi Electric MR-J4, Instruction Manual

Page: 282 / 794

6. NORMAL GAIN ADJUSTMENT
6 - 17
6.3.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. PA09]. 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 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for
settings of the adaptive tuning mode and machine resonance suppression filter.
[Pr. PA09]
Setting
value
Machine characteristic
Reference
(setting
value of
MR-J3)
Setting
value
Machine characteristic
Reference
(setting
value of
MR-J3)
Response
Guideline for
machine resonance
frequency [Hz]
Response
Guideline for
machine resonance
frequency [Hz]
1
Low
response
2.7 21
Middle
response
67.1
17
2 3.6 22 75.6
18
3 4.9 23 85.2
19
4 6.6 24 95.9
20
5 10.0 1 25 108.0 21
6 11.3
2
26 121.7
22
7 12.7
3
27 137.1
23
8 14.3
4
28 154.4
24
9 16.1
5
29 173.9
25
10 18.1 6 30 195.9 26
11 20.4 7 31 220.6 27
12 23.0
8
32 248.5
28
13 25.9
9
33 279.9
29
14 29.2
10
34 315.3
30
15 32.9
11
35 355.1
31
16 37.0 12 36 400.0 32
17 41.7 13 37 446.6
18 47.0
14
38 501.2
19
Middle
response
52.9
15
39 High
response
571.5
20 59.6
16
40 642.7