GT610/GT620 Series High Performance Servo Driver User Manual
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Rotation Speed (n)
Max. Output Rotation Speed
0
Time (t)
t1
t2
Fig. 6-2 Speed Ring Acceleration/Deceleration Curve
F3-04
Stop delay
coefficient
0
～
1000
1
80
×
Stop delay coefficient means the driver, after receiving a stop instruct, starts to
decelerate to zero speed and then extend by t before stopping, among which t=2*
（
F3-04
）
ms.
6.5 Group F4 - Speed Ring Parameter Description
F4-00
Speed ring(ASR)
proportional gain 1
0
～
500Hz
1
60Hz
○
Higher set value of speed ring proportional gain 1 will lead to higher gain, while
greater rigidity will lead to faster speed ring response, however, over-high will
generate oscillation. It should be set according to actual load inertia during actual
application of users. It is better to set a larger value for greater load inertia, and set
a smaller value for smaller inertia.
F4-01
Speed ring(ASR)
integration time 1
0.0
～
1000.0ms
0.1ms
40.0ms
○
Longer speed ring integration time 1 will lead to stronger integration function, and
