5. Parameter Setting
5-10
5.3 Control Parameter (Control Mode: P2--)
Menu
Menu title
Description
Unit
Display range
Default
P2-01
PC P Gain
PC Proportion Gain
rad/s
0 ~ 500
50
If the proportional gain is large, the time to reach the command position is reduced. However, if
the proportional gain is excessively large, vibration occurs when the motor stops, or overshoot
occurs in transient status.
[SC LOOP Gain(P2-02)]
Recommended set value
=
10
[rad/sec]
[SC LOOP Gain(P2-02)]
Recommended maximum set value
=
4
[rad/sec]
If the maximum set value is exceeded, overshoot may occur on the position.
Menu
Menu title
Description
Unit
Display range
Default
P2-02
SC LOOP Gain
SC Proportion Gain
rad/s
0 ~ 5000
By capacity
If the speed loop gain is large, high speed response characteristics may be obtained but the
normal condition characteristics may become deteriorated. Set appropriate level of loop gain to
ensure desired performance.
If the ratio of the overall system inertia (Sum of motor inertia and load inertia) to the motor
inertia is set in [Inertia Ratio (P2-21)], or if the value set by using the autotuning [Autotuning
(P2-23)] provided with the servo is the same as the following, the recommended set values of
[SC Loop Gain (P2-02)] by servo capacity are as follows.
(Caution!)
Default value by capacity – FDA6001C-4C: 500, FDA6005C-150CN: 200
Menu
Menu title
Description
Unit
Display range
Default
P2-03
SC I TC
Time Constant
ms
1 ~ 10000
By capacity
If the SC I TC value is reduced, the characteristic of steady and transient state is improving. But
too much reduction brings out the overshoot of speed. So, set appropriate level of TC to ensure
desired performance. If “10000” value is inputted, speed control type is “P” type.
(Caution!)
Default value by capacity – FDA6001C-4C: 20, FDA6005C-150CN: 50
10000
Recommended set value =
[SC LOOP Gain(P2-02)]
[ms]
3000
Recommended minimum set value =
[SC LOOP Gain(P2-02)]
[ms]
