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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 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.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.
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Parameter No. 9
Response level setting
Machine characteristic
Response level setting
Machine rigidity
Machine resonance
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