4. PARAMETERS FOR POSITIONING CONTROL
4.3.4
Speed integral compensation
Load Inertia Ratio
2
(GD
/GD
L
M
Set value (ms)
4.3.5
In-position range
4.3.6
Feed forward gain
Downloaded from
ManualsNet.com
(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 4.6
below.
Table 4.6 Guide to Speed Integral Compensation Setting
1
3
2
)
20
30
(1) The "in-position" refers to the quantity of droop pulses in the deviation counter.
(2) If an in-position value is set, the in-position signal (M1602 + 20n) will come ON
when the difference between the position command and position feedback from
the servomotor enters the set range.
Amount of
droop
In-position signal
ON
(M16m2)
This parameter is used to improve the follow-up of the servo system.
The setting range is as follows:
When using an MR-
search engine
30 or
5
10
20
Greater
40
60
100
200
OFF
-B...................0 to 100 (%)
4 − 14
Remarks
Setting possible within the range 1 to 9999
(valid range: 1 to 1000)
Set value for in-position range
t