Mitsubishi Electronics MR-J2M-P8B Benutzerhandbuch
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6. GENERAL GAIN ADJUSTMENT
6.2.4 Response level setting in auto tuning mode
Set the response (DRU parameter No.9) of the whole servo system. As the response level setting is
increased, the trackability 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 vibration suppression control (DRU parameter No. 25) or machine resonance
suppression filter (DRU parameter No. 18) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to Section 7.2, 7.3 for adaptive
vibration suppression control and machine resonance suppression filter.
increased, the trackability 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 vibration suppression control (DRU parameter No. 25) or machine resonance
suppression filter (DRU parameter No. 18) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to Section 7.2, 7.3 for adaptive
vibration suppression control and machine resonance suppression filter.
DRU parameter No. 9
Response level setting
Machine characteristic
Response level setting
Machine rigidity
Machine resonance
frequency guideline
frequency guideline
Guideline of corresponding machine
1
Low
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
8
Middle
70Hz
9
85Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
F
High
300Hz
Large conveyor
Arm robot
General machine
tool conveyor
Precision
working
machine
Inserter
Mounter
Bonder