Parameter
−46−
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Position loop gain, speed loop gain, speed loop integral time constant
Vibration that occurs while the motor is accelerating/decelerating or at standstill can be adjusted to an optimal value.
(The optimal value varies depending on the equipment or operating conditions.)
Related parameters
Position loop gain
Adjusts the motor response in reaction to the position deviation. When this value is
increased, the deviation between the command position and actual position will be small. An
excessively high value may increase the motor overshooting or cause the motor to vibrate.
Speed loop gain
Adjusts the motor response in reaction to the speed deviation. When this value is increased,
the deviation between the command speed and actual speed will be small. An excessively
high value may increase the motor overshooting or cause the motor to vibrate.
Speed loop integral
time constant
Decreases the deviation that cannot be adjusted with the speed loop gain. An excessively
long value may slow the motor response. Too short value may cause the motor to vibrate.
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Speed filter
When setting the "speed filter" parameter (ID: 293) while the "speed filter selection" parameter (ID: 2064) is set to
"1: speed filter," the command position is filtered and the motor response can be adjusted.
When the speed filter level is increased, the motor operation at starting/stopping will become smooth. Note, however,
that an excessively long filter level will result in lower synchronization against the commands. Set an appropriate
value according to the specific load and application.
Setting speed
Motor speed
Setting speed
Motor speed
MOVE output
END output
MOVE output
END output
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When the "speed filter" parameter is set to 0 ms
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When the "speed filter" parameter is set to 200 ms
Note
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If the "speed filter" parameter (ID: 293) is set to 0, the speed filter will be disabled.
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When the "servo lock at motor standstill" parameter (ID: 2069) is set to "0: Free" in the speed
control mode, the speed filter will be disabled.
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Moving average filter
When setting the "moving average time" parameter (ID: 294) while the "speed filter selection" parameter (ID:
2064) is set to "2: moving average," the motor response can be adjusted. The positioning time can be shortened by
suppressing the residual vibration for positioning operation.
Optimum value for the "moving average time" parameter varies depending on the load or operating condition. Set a
suitable value based on the load or operating condition.
END output
END output
200 ms
200 ms
MOVE output
Setting speed
Motor speed
Setting speed
Motor speed
MOVE output
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When the "moving average filter" is not used
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When the "moving average filter" parameter
is set to 200 ms
