DA98A AC Servo Drive Unit
User Manual
53
changed as the load is changed. Generally, the bigger the load inertia is, the smaller
the [Speed integral time constant] setting value is.
z Position control
（1） Set proper [Speed proportional gain] and [Speed integral time constant] by the
methods above.
（2） Set <position feedforward gain> (parameter No.10) for 0%.
（3） [Position proportional gain]（parameter No.9） Its setting value should be as large as
possible in a stable range. If it is too large, the track characteristic of position
instruction is good and the lag error is small, but there may be oscillation when
positioning stops.
（4） If high position track characteristic is required, the setting value of <position
feedforward gain> may be increased. If it is too big, overshooting may occur.
【Note 1】 If [position proportional gain] setting value is small, the system is stable, but of
position track characteristic gets bad and lag error is large. If high [position
proportional gain] is needed, increase the setting value of
[acceleration/deceleration time constant] (parameter No.40, 41) to avoid the
overshooting.
【Note 2】 When [position feedforward gain] setting value is to be increased, if the system
is unstable, [acceleration/deceleration time constant] setting value can be
increased to avoid the overshooting.
【Note 3】 [Position proportional gain] setting values are as following table:
Rigidity
[Position proportional gain]
Low rigidity
10～20/s
Medium rigidity
30～50/s
High rigidity
50～70/s
2） Adjustment diagram of primary parameters
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