Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 246

■Parameter adjustment
• [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too
high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated
in the following expression.
Speed loop response frequency [Hz] =
• [Pr. PB10 Speed integral compensation]
To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the
speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level.
However, if the load to motor inertia ratio is large or the mechanical system has any vibratory element, the mechanical system
is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.
Speed integral compensation setting [ms] ≥
• [Pr. PB08 Position loop gain]
This parameter determines the response level to a disturbance to the position control loop. Increasing the value increases the
response level to the disturbance, but a too high value will increase vibration of the mechanical system.
Position loop gain guideline ≤
• [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.
Model loop gain guideline ≤
6 NORMAL GAIN ADJUSTMENT
244
6.4 Manual mode
Speed loop gain
(1 + Load to motor inertia ratio) × 2π
Speed loop gain/(1 + Load to motor inertia ratio)
Speed loop gain
(1 + Load to motor inertia ratio)
Speed loop gain
(1 + Load to motor inertia ratio)
2000 to 3000
1 1
× to
4 8
1 1
× to
4 8