Mitsubishi Electric MR-JE-_A Instruction Manual page 218

6. NORMAL GAIN ADJUSTMENT
3) [Pr. PB08 Position loop gain]
This parameter determines the response level to a disturbance to the position control loop.
Increasing the position loop gain increases the response level to a disturbance, but the
mechanical system is liable to vibrate.
Position loop gain guideline ≤
4) [Pr. PB07 Model loop gain]
This parameter determines the response level to a position command. Increasing the value
improves trackability to a position command, but a too high value will make overshoot liable to
occur at settling.
Estimated model loop gain ≤
Speed loop gain
(1 + Load to motor inertia ratio)
Speed loop gain
(1 + Load to motor inertia ratio)
6 - 31
1 1
to
×
4 8
1 1
to
×
4 8