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ꊺ ꋄ Speed loop proportional gain
The proportional gain of speed loop is the parameter which determines the response of the
speed control loop. For external characteristics, it determines the degree of rigidity. If the value
or the proportional gain increases, the rigidity becomes better. Thus, the larger the setting, the
better it will be, except it may cause oscillations and hunting. Taking this into consideration, the
value should be set as large as possible while under a stable condition.
Setting range = 0 ～ 2048,
ꊺ ꋅ Speed loop integral gain
The integral gain of the speed loop is a compensatory factor which reduces normal state error
and increases rigidity. If the value of integral gain is increased, the rigidity will get better except
it may cause oscillations, thus the system may become unstable.
Setting range = 0 ～ 2048,
ꊺ ꋆ Maker's code
ꊺ ꋇ Maker's code
ꊺ ꋈ Maker's code
ꊺ ꋉ Monitor offset voltage
In case there is a need to adjust the offset of the monitor terminal (Number 18 of CN1
connector), connect the oscilloscope or the direct current voltmeter which can be moved by
(+),(-) while the servo is off. This value should be set to 0V so that the monitor output can be
adjusted.
Setting range = -12 ～ 12,
ꊺ ꋊ Monitor selection
This is to select the contents of the output data by monitor terminal.
0 : Output data of speed feedback
2 : Output data of the current in W phase
ꊺ ꋋ Positioning complete range
In position control, this sets the completion range of the position. If the deviation between the
targeted position and the current position is within the set range, the ORIGIN_OUT terminal
(Number 35 of the CN1 connector) will turn ON. The numerical value unit in pulse is 8192 pulse
per 1 rotation.
Setting range : 1 ～ 9999 [pulse],
Outcome value = 400
Outcome value = 1
[x 10/128 V],
Outcome value = 0
1 : Output data of torque feedback
3 : Output data of the current in U phase
Outcome value : 200
DOOSAN SERVO
84
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