9 - 6
9. GENERAL GAIN ADJUSTMENT
9.2.4 Response level setting in auto tuning mode
Set the response (The first digit of param eter No.PA09) of the whole servo system. As the response level
setting is increased, the track ability and sett ling time for a command decreases, but a too high respons e level
will generate vibration. Hence, make setting u ntil desired response is obtained within th e vibration-free range.
If the response level setting cannot be incre ased up to the desired response because of machine resonance
beyond 100Hz, filter tuning mode (parameter N o.PB01) or machine resonance suppression filter (parameter
No.PB13 to PB16) may be used to suppress machine resonanc e. Suppressing machine resonance may allow
the response level setting to increase. Refer t o section 10.3 for filter tuning mode and machine resonance
suppression filter.
Setting of parameter No.PA09
Machine characteristic
Response level setting Machine rigidity Machine resonance
frequency guideline Guideline of corresponding machine
1 Low 10.0
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
Large conveyor
Arm robot
General machine
tool conveyor
Precision
working
machine
Inserter
Mounter
Bonder