3-24
j
Gain Adjustment Standards
The following table shows reference values for gain adjustment. Adjustments can be made quickly if
these values are used as standards. Make the initial gain setting based on the load inertia.
Load inertia
factor
Speed loop gain
Cn-04 (Hz)
Speed loop
integration constant
Cn-05 (ms)
Position loop gain
Cn-1A (1/s)
Comments
1
80
40
60
High rigidity
3
80
20
40
Factory setting
3
120
30
40
---
10
350
40
40
---
20
420
80
20
Moderate rigidity
20
200
120
10
Low rigidity
Adjustment Parameters
j
Adjusting Speed Loop Gain
PRM
No.
Parameter name
Factory
setting
Unit
Setting
range
Explanation
Cn-04
Speed loop gain
80
Hz
1 to
2,000
Adjusts the speed loop response.
As the gain is increased, the servo rigidity
is strengthened. The greater the inertia
rate, the higher this is set. If the gain is set
too high, oscillation will occur.
When the speed loop gain is manipulated, the response is as shown in the diagram below.
Motor speed
(speed monitor)
When speed loop gain is high.
(Oscillates when gain is too high.)
When speed loop gain is low.
Time
Operation
Chapter 3
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