Mitsubishi Electric 800 Series Instruction Manual (Function page 185

 Speed control D gain (Pr.698)
• When Travel completed (MEND) signal is ON during position control, a vibration may occur around the target position.
Adjusting the setting of Pr.698 Speed control D gain suppresses this phenomenon.
• Setting Pr.698 = 100% makes the corner frequency ωf 10 rad/s and reduces the response level to the frequency lower
than that. (Corner frequency is calculated as follows: ωf = 10 rad/s × Pr.698[%].) Position deviation, however, increases
as a higher value is set to Pr.698.
• This suppression is available also for the servo lock function during speed control (Pr.802 Pre-excitation selection = "1").
184
7. Position Control
7.8 Position control gain adjustment