Position Control Gain 1, 2 - Mitsubishi Electric SV13/22 Programming Manual

4. PARAMETERS FOR POSITIONING CONTROL
4.3.2

Position control gain 1, 2

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(1) Position control gain 1
(a) Position control gain 1 is set in order to make the stabilization time shorter.
(b) If the position control gain 1 is too high, it could cause overshoot and the
value must therefore be adjusted so that it will not cause overshoot or
undershoot.
(2) Position control gain 2
(a) Position control gain 2 is set in order to increase position response with
respect to load disturbance.
(b) Calculate the position control gain 2 value to be set from the load inertia
ratio and the speed control gain 2.
Position control gain 2 =
POINTS
(1) If the position control gain 1 setting is too low, the number of droop
pulses will increase and a servo error (excessive error) will occur at high
speed.
(2) The position 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.)
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Overshoot
Speed control gain 2
1 + load inertia ratio
4 − 12
Time
Undershoot
1
×
10