Response Level Setting In Auto Tuning Mode - Mitsubishi Electric MR-J2M-P8B Instruction Manual

6. GENERAL GAIN ADJUSTMENT

6.2.4 Response level setting in auto tuning mode

Set the response (DRU parameter No.9) of the whole servo system. As the response level setting is
increased, the trackability 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 100Hz, adaptive vibration suppression control (DRU parameter No. 25) or machine resonance
suppression filter (DRU parameter No. 18) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to Section 7.2, 7.3 for adaptive
vibration suppression control and machine resonance suppression filter.
Response level setting
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
DRU parameter No. 9
Machine resonance
Machine rigidity
frequency guideline
Low
Middle
High
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Response level setting
Machine characteristic
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
6 - 7
Guideline of corresponding machine
Large conveyor
Arm robot
General machine
tool conveyor
Precision
working
machine
Inserter
Mounter
Bonder