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6. NORMAL GAIN ADJUSTMENT
6 - 18
(4) Parameter adjustment
[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
track ability to a position command, but too high a value will make overshoot liable to occur at settling.
The droop pulse value is determined by the following expression.
Number of droop pulses [pulse] =
Model loop gain setting
Position command frequency [pulse/s]
Position command frequency =
Speed [r/min]
60
× Encoder resolution (number of pulses per servo motor
revolution)