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6. GENERAL GAIN ADJUSTMENT
(3) Adjustment description
(a) Position control gain 1 (DRU parameter No. 6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves trackability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
Position control
gain 1 guideline
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
(
to
1
5
1
3
)
(b) Speed control gain 2 (VG2: DRU parameter No. 37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression:
Speed loop response
frequency(Hz)
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
2
(c) Speed integral compensation (DRU parameter No. 38)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large
or the mechanical system has any vibratory element, the mechanical system is liable to vibrate
unless the setting is increased to some degree. The guideline is as indicated in the following
expression:
Speed integral compensation
setting(ms)
2000 to 3000
(1 ratio of load inertia moment to
servo motor inertia moment setting 0.1)
Speed control gain 2 setting/