Mitsubishi MR-J4-350A - Response Level Setting in Auto Tuning Mode

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