FATEK SD3 Series, Instruction Manual, Page: 295 / 396

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SD3 Series Instruction Manual
Tuning
7
7. Tuning
1. Introduction
1. Introduction
The following prearranged sets of parameters for each control mode enable you to perform tuning easily� (*)
Control Mode Parameter Set
Position Control Mode
Control Gain 1, Control Gain 2, Integral Gain
Velocity Control Mode
Control Gain 1, Integral Gain
*)If the Torque command filter: Low-pass filter auto setting (No�160�2) is set to 1(auto setting ON), "Torque command filter: Low-pass filter"
will be included in the gain set�
SD3 Series features three response models to support a variety of equipment� Three models are different in
ratios of Control Gain 1 ( ω 1) and Control Gain 2 ( ω 2) and you can select the one suitable to the stability and
convergence of your equipment�
Inertia Condition
(Heavy)
Frequency
Equipment Example
Frequency
Frequency
(Medium)
(Light)
Higher stability
Good for applications
of large load
fluctuation
・Robot
Higher convergence
Micro vibration/
disturbance-resistant
Not easily vibrate
・Automatic machines
・Surface mounters
Gain
Gain
Gain
Control Gain Set
Inertia Condition