Action technology A3 - Page 40

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Integral gain (position
control)
interference. When the setting value is higher, the position deviation
convergence of positioning setting will become fast. But if setting value is too
high, vibration will occur.
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] 160[rad/s]
[Setting range] 45 to 5000
129.0
[Adjustment]
Control gain level (speed
control)
Select control gain level in speed 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. 131.0～133.0 will be set automatically and
No.130.0 becomes invalid.
[Initial value] 15
[Setting range] 1 to 46
No
130.0
[Adjustment]
Control level (speed
control)
Select control level in speed 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. 131.0 will be set automatically and No.129.0
becomes invalid.
[Initial value] 15
[Setting range] 1 to 46
No
131.0
[Adjustment]
Control gain 1 (speed
control)
Set the control gain in speed control mode.
It corresponds to proportional gain of speed control loop.
[Initial value] 399[rad/s]
[Setting range] 100 to 6000
No
132.0
[Adjustment]
Gain FF compensation 1
(speed control)
Set feed forward compensation in speed control mode. The higher the setting
value, the better the traceability to command. But Too high setting value may
lead to overshoot or vibration
[Initial value] 0 [0.01％]
[Setting range] 0 to 15000
No
133.0
[Adjustment]
Integral gain(speed
control)
Select integral gain in speed control mode.
The higher the setting value, the smaller the speed change caused by external
disturbance.
[Initial value] 300[rad/s]
[Setting range] 45 to 5000
No
144.0
[Basic setting]
With or without the use
of torque command limit
override
Select torque command limit value in No.147.0, No.148.0
Confirm the following items when using torque limit.
①「No.65.0 Selection of Position deviation error detection」, please set it to
“0=Disable”
②「No.65.1 Selection of Speed deviation error detection」, please set it to “0=
No