LS Mecapion L7 A001, User Manual, Page: 109 / 222

4. Parameters
4-55
Example: Channel 1 scale 100 =>100 [RPM] is output as 1 [V].

DAC output offset [P0-20], [P0-21], [P0-22], [P0-23]
Sets offset [Unit/V] for 1-4 analog output channels.
(Speed [RPM], torque [%], position command frequency [0.1 Kpps], position [pulse], DC_Link
[V])
4.4.2 Control Parameter Setting
The order of setting control parameters is as follows:

Load inertia ratio [P1-00] setting: Refer to
“5.2.6 Auto Gain Tuning [Cn-05].”

Position proportional gain [P1-01] and [P1-02] adjustment:
Increase the gain to the extent that the servo motor does not overshoot or take off (do not use
during speed operation or torque operation).

Speed proportional gain [P1-06] and [P1-07] adjustment:
Increase the gain to the extent that the servo motor does not vibrate.

Speed integral time constant [P1-08] and [P1-09] adjustment:
Refer to the following table and perform setting according to the speed proportional gain.
(1) Inertia Ratio Setting [P1-00]
An inertia ratio shall be set by calculating load inertia from the machine system and rotor
inertia from the motor specification table.
Setting inertia ratio against load is an important control parameter for the operation of the
servo. Setting accurate inertia ratio is crucial for optimal servo operation.

The following table contains control gain recommendations for different categories of inertia
ratio:
Motor
Flange
Inertia Ratio Gain Range
Category
[Inertia]
(Multiple)
Position
Proportional
Gain
Speed
Proportional
Gain
Speed Integral
Gain
40
~ 80
Low inertia 1 ~ 5 40 ~ 90 400 ~ 1000 10 ~ 40
Medium
inertia
5 ~ 20 20 ~ 70 200 ~ 500 20 ~ 60
High inertia 20 ~ 50 10 ~ 40 100 ~ 300 50 ~ 100
* Inertia ratio can be tuned during a test drive if it is hard to calculate.