Mitsumi electronic MR-J3- A Manual De Usuario

 

 

7 -  6 

7. GENERAL GAIN ADJUSTMENT 

 
7.2.4 Response level setting in auto tuning mode 

Set the response (The first digit of parameter No.PA09) of the whole servo system. 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 100Hz, adaptive tuning mode (parameter No.PB01) or machine resonance suppression filter 
(parameter No.PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance 
may allow the response level setting to increase. Refer to section 8.2, 8.3 for adaptive tuning mode and 
machine resonance suppression filter. 
 
Setting of parameter No.PA09 

 

Response level setting 

Machine characteristic 

Machine rigidity 

Machine resonance 
frequency guideline 

Guideline of corresponding machine 

1 Low 

10.0 

Large conveyor

Arm robot

General machine 

tool conveyor

Precision 

working 

machine

Inserter

Mounter

Bonder

 

2 

 

11.3 

3 12.7 

4 14.3 

5 16.1 

6 18.1 

7 20.4 

8 23.0 

9 25.9 

10 29.2 

11 32.9 

12 37.0 

13 41.7 

14 47.0 

15 52.9 

16 Middle 

59.6 

17 

 

 

67.1 

18 75.6 

19 85.2 

20 95.9 

21 108.0 

22 121.7 

23 137.1 

24 154.4 

25 173.9 

26 195.9 

27 220.6 

28 248.5 

29 279.9 

30 315.3 

31 355.1 

32 High 

400.0