Response Level Setting In Auto Tuning Mode - Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual

6. NORMAL GAIN ADJUSTMENT

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
trackability to a command improves and settling time decreases, but setting the response level too high will
generate vibration. Set a value to obtain the desired response level 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
Response
1
response
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Middle
response
20
Machine characteristic
Guideline for
machine resonance
frequency [Hz]
2.7
Low
3.6
4.9
6.6
10.0
11.3
12.7
14.3
16.1
18.1
20.4
23.0
25.9
29.2
32.9
37.0
41.7
47.0
52.9
59.6
Reference
(setting Setting
value of value
Response
MR-J3)
21
response
22
23
24
1
25
2 26
3
27
4
28
5 29
6
30
7
31
8 32
9
33
10
34
11 35
12
36
13
37
14 38
15
39
response
16
40
6 - 21
Machine characteristic
Guideline for
machine resonance
frequency [Hz]
67.1
Middle
75.6
85.2
95.9
108.0
121.7
137.1
154.4
173.9
195.9
220.6
248.5
279.9
315.3
355.1
400.0
446.6
501.2
571.5
High
642.7
Reference
(setting
value of
MR-J3)
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32