Lite-On Technology Corp.
Industrial Automation
160
must follow the rules below.
Setting for the input ratio of the command pulse
Command for pulse input (
p1
)
×
𝑁
𝑀
=
Command position (
p2
)
; (
p1
)
×
𝑁
𝑀
=
(
p2
)
Scope for the input ratio of the command pulse
: 1
／
50
＜
N
𝑥
𝑀
＜
25600
（
x
=1
、
2
、
3
、
4
）
7.2.4.
Adjustment for the gain of position circuit
Before setting the position control unit, the user must select the operating mode for gain adjustment first
manually (PB-33) for the speed control unit. As a result, the setting of speed control unit is complete. The
speed control unit must be set before the setting of the position control unit because the speed circuit is
included in the internal circuit of the position circuit.
Parameter PB-33 allows the user to select the operating mode for gain adjustment. If the user decides to
adjust the gain manually, the gain of the speed circuit must be adjusted before setting the proportional gain
(PB-20) and feed-forward gain (PB-22) of the position circuit.
Proportional gain(PB-20) : The gain increase would expand the response bandwidth of the position circuit.
Feed-forward gain (PB-22): This reduces the phase-lag error.
The bandwidth of the position circuit must not exceed that of the speed circuit. It is suggested that response
bandwidth of position circuit
(Hz) ≤
response bandwidth of speed circuit.
(Hz)
Fp: Response bandwidth of position (Hz)
Fv: Response bandwidth of speed (Hz)
Fp ≤
Fv
4
E.g.: For setting the response bandwidth of position to 10Hz, Parameter
KPP( PB-20)
is designed as
KPP
= 2 × π ×
Fp =
2 × π ×
10=62.8
Relevant parameters:
PB-20
KPP
Gain of the position control
Communication
address:
0128H
0129H
Initial value
125
Control mode
P
Unit
rad/s
Configuration range
0 ~ 2047
Data size
16bit
Data format
Dec
When the gain of the position control is increased, the position response is increased and the error
magnitude of the position control is reduced. Vibration and noise occurs easily if the gain is set to
an excessive value.
