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4. PARAMETERS FOR POSITIONING CONTROL
4.3.3
Position control gain 1, 2
Load Inertia Ratio
2
(GD
/GD
L
M
Set value (ms)
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(1) Position control gain 1
(a) In the speed control mode
Normally, no change is necessary.
(b) In the position control mode
Set to increase the follow-up with respect to commands.
(2) Speed control gain 2
(a) Speed control gain 2 is set when vibration occurs, for example in low-rigidity
machines or machines with a large backlash.
When the speed control gain 2 setting is increased, responsiveness is
improved but vibration (abnormal motor noise) becomes more likely.
(b) A guide to setting position gain 2 is presented in Table 4.5 below.
Table 4.5 Guide to Speed Control Gain 2 Setting
1
3
2
)
800
1000
1500
POINTS
(1) When the setting for speed control gain 1 is increased, the overshoot
becomes greater and vibration (abnormal motor noise) occurs on
stopping.
(2) The speed control gain 1 setting can be checked from a peripheral
device.
(For the method used to execute this check, refer to the operating
manual for the peripheral device used.)
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30 or
5
10
20
Greater
2000
2000
2000
4 − 13
Remarks
Setting possible within the range 1 to 9999
(valid range: 20 to 5000)
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