Mitsubishi MR-JE-10B Instruction Manual page 163

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
trackability to a position command, but a too high value will make overshoot liable to occur at settling.
Number of droop pulses is determined by the following expression.
Number of droop pulses [pulse] =
Position command frequency =
revolution)
Position command frequency [pulse/s]
Model loop gain setting
Speed [r/min]
× Encoder resolution (number of pulses per servo motor
60
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