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4. PARAMETERS FOR POSITIONING CONTROL
4.3.4
Position control gain 1, 2
Load Inertia Ratio
2
2
(GD
/GD
)
L
M
Set value (ms)
4.3.5
Speed integral compensation
Load Inertia Ratio
2
2
(GD
/GD
)
L
M
Set value (ms)
(1) Position control gain 1
(a) In the speed control mode
Normally, no change is necessary.
(b) In the position control mode
Set to increase the follow-up with respect to commands.
(2) Speed control gain 2
(a) Speed control gain 2 is set when vibration occurs, for example in low-rigidity
machines or machines with a large backlash.
When the speed control gain 2 setting is increased, responsiveness is
improved but vibration (abnormal motor noise) becomes more likely.
(b) A guide to setting position gain 2 is presented in Table 4.7 below.
Table 4.7 Guide to Speed Control Gain 2 Setting
1
3
5
800
1000
1500
POINTS
(1) When the setting for speed control gain 1 is increased, the overshoot
becomes greater and vibration (abnormal motor noise) occurs on
stopping.
(2) The speed control gain 1 setting can be checked from a peripheral
device.
(For the method used to execute this check, refer to the operating
manual for the peripheral device used.)
(1) This parameter is used to increase frequency response in speed control and
improve transient characteristics.
(2) If the overshoot in acceleration/deceleration cannot be made smaller by
adjusting speed loop gain or speed control gain, increasing the setting for the
speed integral compensation value will be effective.
(3) A guide to setting the speed integral compensation is presented in Table 4.8
below.
Table 4.8 Guide to Speed Integral Compensation Setting
1
3
5
20
30
40
30 or
10
20
Greater
2000
2000
2000
30 or
10
20
Greater
60
100
200
4 − 15
Remarks
Setting possible within the range 1 to 9999
(valid range: 20 to 5000)
Remarks
Setting possible within the range 1 to 9999
(valid range: 1 to 1000)
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