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6. NORMAL GAIN ADJUSTMENT
3) [Pr. PB08 Position loop gain]
This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.
Position loop gain guideline
4) [Pr. PB07 Model loop gain]
This parameter determines the response level to a position command. Increasing the value
improves track ability to a position command, but a too high value will make overshoot liable to
occur at settling.
Model loop gain guideline
Speed loop gain setting
(1 +
(1 + Load to motor inertia ratio) × 2
Speed loop gain setting
(1 +
(1 + Load to motor inertia ratio) × 2
6 - 16
1
1
×
)
4
8
1
1
×
)
4
8
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