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When a speed-control Servopack is used, set the position loop gain at the host controller.
If the position loop gain cannot be set at the host controller, adjust the Servopack speed refer-
ence gain (Cn-03).
The position loop gain (Cn-1A) of a speed-control Servopack is valid in zero-clamp mode
only.
The position loop gain is determined from the following relationship.
= VS Á
K
p
K
[1/s]:
Position loop gain
P
VS [PPS]: Steady speed reference
ε: (pulse): Steady error
(The number of pulses in the error counter at steady speed.)
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— A-15 —
A.4 Gain Setting References
A
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