Autonics AiCA Series, User Manual

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12 Driver Function
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12.2.2 Motor Gain
The motor response of position command can be changed by parameter setting.
Depending on the load of motor, assign gain value to make faster position decision and
smoother movement.
As Gain gets bigger, the transient response improves and error gets lesser, motor
specification gets stable.
Assigned Gain value is applied when motor stops
Parameter Setting Bandwidth Setting Bandwidth
Motor GAIN
0 ×1 16 ×17
1 × 2 17 ×18
2 × 3 18 ×19
3 × 4 19 ×20
4 × 5 20 ×21
5 × 6 21 ×22
6 × 7 22 ×23
7 × 8 23 ×24
8 × 9 24 ×25
9 × 10 25 ×26
10 × 11 26 ×27
11 × 12 27 ×28
12 × 13 28 ×29
13 × 14 29 ×30
14 × 15 39 ×31
15 × 16 Fine Gain User setting

Fine Gain
When setting Motor GAIN parameter, P Gain and I Gain value can be set directly through
atMotion.

P Gain: In case of use as friction load, improve motor response by controlling Gain.

I Gain: In case of use as inertial load, improve motor response by controlling Gain.
Parameter Setting range Unit
P Gain 0.000 to 32.000 0.001
I Gain 0.000 to 32.000 0.001