73
Gain FF
compensation 1
(position control)
mode. After confirming inertia ratio, adjusting this parameter will shorten the setting
time. Too high setting value will lead to overshoot. And too low setting value will make
setting time longer.
[Initial value] 10000[0.01
％
]
[Setting range] 0 to 15000
118.0
[Adjustment]
Gain FF
compensation 2
(position control)
Set feed forward compensation ratio (torque) of the control gain 2 in position control
mode. It is suitable to adjust this parameter when it requires small following error and
precise trajectory.
After Gain FF compensation 1 shortens setting time, please
increase this parameter value. If vibration occurs, adjusting No.81.0 position command
smoothing filter 2 average movement times may suppress the vibration.
[Initial setting] 0 [0.01
％
]
[Setting range] 0 to 15000
No
119.0
[Adjustment]
Integral gain
(position control)
Setting integral gain in position control mode can suppress external interference.
When the setting value is higher, the position deviation convergence of positioning
setting will become fast. But if setting value is too high, vibration will occur.
When No.113.0 control gain level or No.114.0 control level is adjusted to set
automatically, sometimes the setting values will exceed the setting range.
[Initial value] 160[rad/s]
[Setting range] 45 to 5000
No
129.0
[Adjustment]
Control gain level
(speed control)
Select control gain level in speed control mode. If traceability to command is slow or
rigidity of drive system is low, set the lower value; If traceability to command is rapid or
rigidity of drive system is high, set the higher value.
When setting this parameter, No. 131.0
～
133.0 will be set automatically and No.130.0
becomes invalid.
[Initial value] 15
[Setting range] 1 to 46
No
130.0
[Adjustment]
Control level
(speed control)
Select control level in speed control mode. If traceability to command is slow or rigidity
of drive system is low, set the lower value; If traceability to command is rapid or rigidity
of drive system is high, set the higher value.
When setting this parameter, No. 131.0 will be set automatically and No.129.0
becomes invalid.
[Initial value] 15
[Setting range] 1 to 46
No
131.0
[Adjustment]
Control gain 1
(speed control)
Set the control gain in speed control mode.
It corresponds to proportional gain of speed control loop.
[Initial value] 399[rad/s]
[Setting range] 100 to 6000
No
132.0
[Adjustment]
Gain FF
compensation 1
(speed control)
Set feed forward compensation in speed control mode. The higher the setting value,
the better the traceability to command. But Too high setting value may lead to
overshoot or vibration
[Initial value] 0 [0.01
％
]
[Setting range] 0 to 15000
No
133.0
[Adjustment]
Integral
Select integral gain in speed control mode.
The higher the setting value, the smaller the speed change caused by external
No
Summary of Contents for SV-E3 Series
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Page 30: ...30 3 5 Dimensions of servo drive Same dimensions for SV E3 ...
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