— 7-50 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
7.2. For More Advanced Operation
7.2.5. Integration Limiter: ILV
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
7.2.5. Integration Limiter: ILV
Parameter: ILV (The password is necessary.)
l
The integration limiter improves overshoot caused by integration when the Motor is accelerated
and decelerated at a high rate.
Table 7-22
Parameter Function
Shipping
set
ILV
Sets the velocity loop integration limiter (%).
ILV100.0
l
Use the ILV to specify the upper limit of the output of the velocity loop integration circuit.
l
The integration control is inevitable for accurate positioning. However, it is subject of deviation
and overshooting due to integration if the Motor is accelerated and decelerated at high rate. To
eliminate such troubles, use an integration limiter to suppress excessive integration.
* For more details about the parameter, refer to “8. Glossary of Command and Parameter.”
Figure 7-44
Position
command
Velocity
loop gain
Position
loop gain
Position
d t
Velocity loop
i t
t
Integratiion
limiter
+
–
Velocity data
+
–
IIntegration
frequency
ILV
VI
VG
PG
Figure 7-45
ILV
[%]
Error
Integration gain
ILV
[%]