MITSUBISHI ELECTRIC J2-JRSERIES MR-J2-03A5 - Manual (Page 119)

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7. ADJUSTMENT
7.4 Manual Gain Adjustment
On some machines, gain adjustment may not be made by auto tuning or excellent gain setting may not be
made if gain adjustment is performed by auto tuning. In this case, adjust the gains manually. Use any of
the methods given in this section to adjust the gains.
7.4.1 When machine rigidity is low
(1) Machine condition
Because of low machine rigidity, the response setting of auto tuning is set to slow response and it takes
too much time to reach the target position.
When the machine or motor shaft is moved lightly at a stop, it moves easily.
(2) Adjustment procedure
(a) Adjustment 1
1) Execute auto tuning with the response setting of the level at which machine will not vibrate.
Set 0101 in parameter No. 2.
2) Set "Not executed" auto tuning in parameter No. 2.
3) Gradually decrease the speed integral compensation VIC (parameter No. 38) setting.
(b) Adjustment 2
1) Perform auto tuning with the response setting of slow response.
Set 0101 in parameter No. 2.
2) Set the machine resonance suppression filter (Parameter No. 22) in order from higher to lower
frequencies.
3) Alternate a start and a stop several times, execute auto tuning, and check whether the machine
does not vibrate.
4) If the machine condition does not become excellent after the above adjustment, reduce the setting
of speed integral compensation as in Adjustment 1.