4. PARAMETERS FOR POSITIONING CONTROL
4
−
8
(2) Adjustment parameters
Table 4.3 Servo Parameter (Adjustment Parameter) List
Setting Range
Default
mm
inch
degree
PULSE
No.
Item
Setting
Range
Units
Setting
Range
Units
Setting
Range
Units
Setting
Range
Units
Initial Value Units
Remarks
Expla-
natory
Section
1
Load inertia
ratio
0.1 to 20.0
3.0
•
Set the ratio of load inertia
moment to motor inertia
moment.
4.3.8
2
Position
control gain 1
Valid range 5 to 500 rad/s Setting range 1 to 9999 rad/s
70
rad/s
•
Make setting to increase
trackability for the position
command.
4.3.3
3
Speed
control gain 1
Valid range 20 to 5000 rad/s Setting range 1 to 9999 rad/s
1200
rad/s
•
Make setting to increase
trackability for the speed
command.
4.3.4
4
Position
control gain 2
Valid range 5 to 100 rad/s Setting range 1 to 9999 rad/s
25
rad/s
•
Make setting to increase
position response for load
disturbance.
4.3.3
5
Speed
control gain 2
Valid range 20 to 8000 rad/s Setting range 1 to 9999 rad/s
600
rad/s
•
Make setting when vibration
occurs on machinery
having large backlash.
4.3.4
6
Speed integral
compensation
Valid range 2 to 240 rms Setting range 2 to 240 rad/s
20
ms
•
Set the time constant of
integral compensation.
4.3.5
7
Notch filter
•
Cannot be set.
8
Feed forward
gain
0 to 150%
0: Feed forward control is not executed.
0
%
•
Set the feed forward
coefficient for position
control.
4.3.7
In-position
range(SV13)
(Note)
0.1 to
214748364.7
µ
m
0.00001
to
21474.83647
inch
0.00001
to
359.99999
degree
1 to
2147483647
PLS
9
In-position
range(SV22)
(Note)
0.1 to 3276.7
µ
m
0.00001
to
0.32767
inch
0.00001
to
0.32767
degree
1 to
32767
PLS
100
PLS
•
Set the droop pulse value
of the deviation counter.
•
The in-position signal turns
ON when droop pulses are
within the setting range.
4.3.6
10
Electromagnetic
brake sequence
•
Cannot be set.
4.3.12
(Note) : The setting range indication varies with the electronic gear value.
