Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 529

Setting of fully closed loop dual feedback filter
With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain
adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph
function, etc. of MR Configurator2, adjust the dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
[Pr. PE08] setting
1
to
4499
4500
Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration since the motor is
more likely to be influenced by the load-side encoder vibration. The maximum setting of the dual feedback filter should be less
than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Droop pulses
Command
Suppression of vibration: Decrease the dual feedback filter setting.
Droop pulses
Command
Control mode
Dual feedback
Fully closed loop
Time
Time
Vibration
Not frequently occurs
to
Frequently occurs

Droop pulses
Command
Time
Droop pulses
Command
Time
16 FULLY CLOSED LOOP SYSTEM
Settling time
Long time
to
Short time

16.3 Operation and functions
16
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