Action technology A3 - Page 39

39
113.1
[Adjustment]
Inertia condition
Set the inertia condition of position control mode.
0= Can interchange with F/W version of 2.0.4.0 or prior
1= For the device of heavy load and low rigidity, or large load changes
2= Standard setting
3= For the device of light load and CW/CCW frequently
[Initial value] 2 (Standard)
[Setting range] 0 to 3
No
114.0
[Adjustment]
Control level (position
control)
Set control level of position control mode. If traceability to command is slow or
rigidity of drive system is low, set the lower value; If traceability to command is
rapid or rigidity of drive system is high, set the higher value.
When setting this parameter, No. 115.0, No.116.0 will be set automatically and
No.113.0 becomes invalid.
When the inertia condition No.113.1 is set to “0”(servo drive version 2.0.4.0 or
prior), the setting range is from 1 to 46.
[Initial value] 15
[Setting range] 5 to 45
No
115.0
[Adjustment]
Control gain 1 (position
control)
Set the Control gain 1 at position control mode. Higher setting value can
shorten the setting time. Set the Control gain 2 as the following values.
[Initial value] 50 [rad/s]
[Setting range] 5 to 1000
No
116.0
[Adjustment]
Control gain 2 (position
control)
Set the Control gain 2 at position control mode. Higher setting value can
improve the traceability to the command. Too high setting value can cause
overshoot and vibration.
When No.113.0 control gain level or No.114.0 control level is adjusted to set
automatically, sometimes the setting values will exceed the setting range.
[Initial value] 200[rad/s]
[Setting range] 80 to 5000
No
117.0
[Adjustment]
Gain FF compensation 1
(position control)
Set feed forward compensation ratio (speed) of the Control gain 1 in position
control mode. After confirming inertia ratio, adjusting this parameter will
shorten the setting time. Too high setting value will lead to overshoot. And too
low setting value will make setting time longer.
[Initial value] 10000[0.01％]
[Setting range] 0 to 15000
No
118.0
[Adjustment]
Gain FF compensation 2
(position control)
Set feed forward compensation ratio (torque) of the control gain 2 in position
control mode. It is suitable to adjust this parameter when it requires small
following error and precise trajectory. After Gain FF compensation 1
shortens setting time, please increase this parameter value. If vibration
occurs, adjusting No.81.0 position command smoothing filter 2 average
movement times may suppress the vibration.
[Initial setting] 0 [0.01％]
[Setting range] 0 to 15000
No
119.0
[Adjustment]
Setting integral gain in position control mode can suppress external
No