6.2 High-speed Positioning
6 -7
J
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Setting Position Loop Gain
Set the following position loop-related user constant as required.
Pn102
Position Loop Gain (Kp) Unit:
1/s
Setting
Range:
1 to 2000
Factory
Setting:
40
Speed Control,
Position Control
The above constant is the position loop gain for the Servopack.
The higher the position loop gain, the smaller the position control error will be. There is, how-
ever, a certain limit depending on machine characteristics.
Position reference
Position loop gain
Position feedback
This gain setting is also valid for zero clamp operation.
The above user constant is automatically set by the autotuning operation.
Pn505
Overflow level
Unit:
256
reference
units
Setting
Range:
1 to 32767
Factory
Setting:
1024
Position Control
Set in this user constant the error pulse level at which a position error pulse overflow
alarm (A.d0) is detected.
Normal control
Error pulse
“Pn505”
Alarm (A.d0)
Alarm (A.d0)
If the machine permitsonly a small position loop gain value tobe setin Pn102,an overflowalarm
may arise during high-speed operation. In this case, increase the value set in this user constant
to suppress alarm detection.
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