Mitsubishi Electric MELSERVO-J4 series Instruction Manual page 205

6. NORMAL GAIN ADJUSTMENT
(4) Parameter adjustment
[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
track ability to a position command, but a too high value will make overshoot liable to occur at settling.
The droop pulses value is determined by the following expression.
Number of droop pulses [pulse] =
Position command frequency differs depending on the operation mode.
Rotary servo motor and direct drive motor:
Position command frequency
Speed [r/min]
= × Encoder resolution (number of pulses per servo motor revolution)
60
Linear servo motor:
Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)
Position command frequency [pulse/s]
Model loop gain setting
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