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57
5
Settings
5. Settings
Digitax SF
Instruction Manual
5. Parameters
5.
Parameters
No. 115.0
Tuning:
Position control mode - Control gain 1
Range
Default
Characteristics
5 to 1,000
50
[rad/s]
Function
Use
Set Control Gain 1 for Position Control Mode.
Increasing this parameter value reduces position
errors
after the command becomes zero.
Increase it when the position
error
convergence at the time of settling is not good.
Set a value smaller than the value of
Control Gain 2
(116.0).
Prerequisite
Position Control Mode
Remark
・Making a change to any of the following will also change other tuning parameters (such as
Control
Gain 2
) to the prearranged parameter set all at once.
Control Gain Set
(113.0)
Inertia conditions
(113.1)
Control Level
(114.0)
・To reduce the position
error
of the command being input, raise
Control Gain 2
(116.0).
Related To
No. 113.0, No. 113.1, No. 114.0, No. 116.0, No. 117.0
No. 116.0
Tuning:
Position control mode - Control gain 2
Range
Default
Characteristics
80 to 5,000
200
[rad/s]
Function
Use
Set Control Gain 2 for Position Control Mode.
Increasing this parameter value decreases the position
error
during command input. Increasing the
parameter value provides faster command response; however, too large a value may result in noise.
Set a value larger than the value of
Control Gain 1
(115.0).
Noise Solutions
① Use
Torque command filter: Notch filter
(such as 160.1)
② Lower
Integral Gain
(119.0)
If the above does not work, decrease the
Control Gain 2
.
Prerequisite
Position Control Mode
Remark
・Making a change to any of the following will also change other tuning parameters (such as
Control
Gain 1
) to the prearranged parameter set all at once.
Control Gain Set
(113.0)
Inertia conditions
(113.1)
Control Level
(114.0)
・To reduce position
errors
after the command becomes zero, increase the value of
Control
Gain 1
(115.0).
Related To
No. 113.0, No. 113.1, No. 114.0, No. 115.0, No. 118.0
7
Tuning
7
Tuning
-
-
Summary of Contents for Control Techniques Digitax-SF DA21223
Page 6: ...6 MEMO Digitax SF Instruction Manual ...
Page 23: ...17 MEMO Digitax SF Instruction Manual 1 Before Use 2 Overview ...
Page 283: ...48 MEMO Digitax SF Instruction Manual 6 Operation 5 Position Control Mode ...
Page 329: ...46 MEMO Digitax SF Instruction Manual 7 Tuning ...
Page 330: ...8 8 Troubleshooting 2 2 4 5 5 6 8 8 9 17 18 19 20 21 22 23 ...
Page 353: ...24 MEMO 8 Troubleshooting Digitx SF Instruction Manual ...