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7. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (PG1: parameter No. 6)
This parameter determines the response level of the position control loop. Increasing PG1
improves trackability to a position command but a too high value will make overshooting liable
to occur at the time of settling.
PG1 guideline
VG2 setting
(1 load inertia moment ratio)
(
to
1
5
1
3
)
2) Speed control gain 2 (VG2: 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)
VG2 setting
(1 ratio of load inertia moment to motor inertia moment)
2
2
3) Speed integral compensation (VIC: parameter No. 38)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation (VIC), 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:
VIC setting(ms)
2000 to 3000
(1 GD2 setting 0.1)VG2 setting/