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J J Position Control
User Constants
The following user constants are used.
D Speed Loop Gain (Pn100)
Thisuserconstant is usedfor determiningthe response speed ofthe speedloop. The response
speed increases if the constant is set to a large value provided that the mechanical system
does not vibrate. The value of speed loop gain is the same as the set value of Pn100 if the
inertia ratio set in Pn103 is correct.
Speed loop gain Kv = Set value of Pn100 (Hz)
Set Pn103 to the following value.
Pn103 set value =
In the case of manual adjustments of user constants, the user must set the value of user constant Pn103. The
inertia ratio can be obtained if the servo gain constant is written with user constant Fn007 after autotuning has
been performed. For details regarding Fn007, refer to 6.3 Autotuning.
D Speed Loop Integral Time Constant (Pn101)
The speed loop has an integral element so that the speed loop can respond to minute inputs.
This integral element delays the operation of the servo system, so a longer positioning set-
ting time is required with slower response speed as the value of the time constant increases.
If the load inertia is large or the mechanical system is likely to vibrate, make sure that the
speed loop integral time constant is large enough; otherwise the mechanical system will vi-
brate. The following is a standard.
1
Ti
2.3 ×
2 × Kv
Ti: Integral time constant [s]
Kv: Speed loop gain (calculated from the above) [Hz]
D Torque Reference Filter Time Constant (Pn401)
If the mechanical system uses ball screws, torsion resonance may result, in which case the
oscillation noise will be a high-pitched tone. The oscillation may be stopped by increasing
the time constant of the torque reference filter. Like the integral time constant, this filter
causes a delay in the operation of the servo system. Therefore, this constant must not be set
to an excessively large value.
Motor axis conversion load inertia (J
Servomotor rotor inertia (J
6 -29
6.4 Servo Gain Adjustments
)
L
× 100(%)
)
M
6
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