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Sigma II User's Manual
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Setting Position Loop Gain
Set the following position loop-related parameter as required.
Parameter
Position Loop Gain
Pn102
(K
)
P
The above constant is the position loop gain for the servo amplifier.
The higher the position loop gain, the smaller the position control error will be.
There is, however, a certain limit depending on machine characteristics.
This gain setting is also valid for zero clamp operation.
The above parameter is automatically set by the auto-tuning operation.
Parameter
Pn505
Overflow Level
Set in this parameter the error pulse level at which a position error pulse overflow
alarm (A.d0) is detected.
If the machine permits only a small position loop gain value to be set in Pn102, an
overflow alarm may arise during high speed operation. In this case, increase the
value set in this parameter to avoid unnecessary alarms.
Signal
Setting Range: 0 to 2000
Default Setting: 40
Position reference
Signal
(256 reference units)
Setting Range: 1 to 32767
Default Setting: 1024
Error pulse
Setting
-1
(s
)
Position loop gain
Position feedback
Setting
Alarm (A.d0)
Pn505
Normal control
Alarm (A.d0)
6-8
Chapter 6: Servo Adjustment
Application
Speed/Torque Control,
Position Control
Application
Position Control
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