57
5
Setting Parameters
5. Setting Parameters
SD3 Series 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 deviations after the command becomes zero.
Increase it when the position deviation convergence at the time of settling is not good.
Set a value smaller than the value of
Control Gain 2
(No.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
(No.113.0)
- Inertia conditions
(No.113.1)
- Control Level
(No.114.0)
・To reduce the position deviation of the command being input, raise
Control Gain 2
(No.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 deviation 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
(No.115.0).
■ Noise Solutions
① Use
Torque command filter: Notch filter
(such as No.160.1)
② Lower
Integral Gain
(No.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
(No.113.0)
- Inertia conditions
(No.113.1)
- Control Level
(No.114.0)
・To reduce position deviations after the command becomes zero, increase the value of
Control Gain 1
(No.115.0).
Related To
No.113.0, No.113.1, No.114.0, No.115.0, No.118.0
7
Tuning
7
Tuning
-
-
Содержание SD3 Series
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