6. GENERAL GAIN ADJUSTMENT
6.2.4 Response level setting in auto tuning mode
Set the response (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
If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, adaptive vibration suppression control (parameter No. 25) or machine resonance suppression filter (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.
Parameter No. 9
0 0 0 5
Response level setting
Machine characteristic
Response level setting | Machine rigidity | Machine resonance | Guideline of corresponding machine | |
| frequency guideline | |||
|
|
| ||
1 | Low | 15Hz |
| |
2 |
| 20Hz |
| |
3 |
| 25Hz |
| |
4 |
| 30Hz | Large conveyor | |
|
| |||
5 |
| 35Hz |
| |
6 |
| 45Hz | Arm robot | |
7 |
| 55Hz |
| |
8 | Middle | 70Hz | General machine | |
tool conveyor | ||||
|
|
| ||
9 |
| 85Hz | Precision | |
|
|
| ||
A |
| 105Hz | working | |
B |
| 130Hz | machine | |
|
| |||
C |
| 160Hz | Inserter | |
| Mounter | |||
|
|
| ||
D |
| 200Hz | Bonder | |
E |
| 240Hz |
| |
F | High | 300Hz |
|
6 - 7