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.2) 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 resp onse
level will generate vibration. Hence, make setting until desired response is obtained wi thin 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 (parameter No. 60) or machine resonance
suppression filter (parameter No. 58 59) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase . Refer to section 8.1 for adaptive
vibration suppression control and machine resonance suppression filter.
Parameter No. 2
Response level setting
Gain adjustment mode selection
Machine characteristic
Response level setting Machine rigidity Machine resonanc e
frequency guideline Guideline of corresponding machine
1 Lo w 15Hz
2 20Hz
3 25Hz
430Hz
5 35Hz
6 45Hz
7 55Hz
8 Middle 70Hz
9 85Hz
A 105Hz
B 130Hz
C160Hz
D 200Hz
E 240Hz
F High 300Hz
Large conveyor
Arm robot
General machine
tool conveyor
Precision
working
machine
Inserter
Mounter
Bonder